Separation Generator to a dedicated repo

Change-Id: Id94831651c3266861435272a6e36c7884bef2c45
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 389 insertions, 0 deletions

diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp
new file mode 100644
index 00000000..057bc71f
--- /dev/null
+++ b/low-can-binding/can/can-message.cpp
@@ -0,0 +1,389 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "can-message.hpp"
+
+#include <cstring>
+
+#include "../binding/low-can-hat.hpp"
+
+///
+/// @brief Class constructor
+///
+/// Constructor about can_message_t class.
+///
+can_message_t::can_message_t()
+	: maxdlen_{0},
+	 id_{0},
+	 length_{0},
+	 format_{can_message_format_t::INVALID},
+	 rtr_flag_{false},
+	 flags_{0},
+	 timestamp_{0},
+	 sub_id_{-1}
+{}
+
+can_message_t::can_message_t(uint8_t maxdlen,
+	uint32_t id,
+	uint8_t length,
+	can_message_format_t format,
+	bool rtr_flag,
+	uint8_t flags,
+	std::vector<uint8_t>& data,
+	uint64_t timestamp)
+	:  maxdlen_{maxdlen},
+	id_{id},
+	length_{length},
+	format_{format},
+	rtr_flag_{rtr_flag},
+	flags_{flags},
+	data_{data},
+	timestamp_{timestamp},
+	sub_id_{-1}
+{}
+
+///
+/// @brief Retrieve id_ member value.
+///
+/// @return id_ class member
+///
+uint32_t can_message_t::get_id() const
+{
+	return id_;
+}
+
+int can_message_t::get_sub_id() const
+{
+	return sub_id_;
+}
+
+///
+/// @brief Retrieve RTR flag member.
+///
+/// @return rtr_flags_ class member
+///
+bool can_message_t::get_rtr_flag_() const
+{
+	return rtr_flag_;
+}
+
+///
+/// @brief Retrieve format_ member value.
+///
+/// @return format_ class member. Default to INVALID.
+///
+can_message_format_t can_message_t::get_format() const
+{
+	if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
+		return can_message_format_t::INVALID;
+	return format_;
+}
+
+///
+/// @brief Retrieve flags_ member value.
+///
+/// @return flags_ class member
+///
+uint8_t can_message_t::get_flags() const
+{
+	return flags_;
+}
+
+///
+/// @brief Retrieve data_ member value.
+///
+/// @return pointer to the first element
+///  of class member data_
+///
+const uint8_t* can_message_t::get_data() const
+{
+	return data_.data();
+}
+
+///
+/// @brief Retrieve data_ member whole vector
+///
+/// @return the vector as is
+///
+const std::vector<uint8_t> can_message_t::get_data_vector() const
+{
+	return data_;
+}
+
+///
+/// @brief Retrieve length_ member value.
+///
+/// @return length_ class member
+///
+uint8_t can_message_t::get_length() const
+{
+	return length_;
+}
+
+void can_message_t::set_sub_id(int sub_id)
+{
+	sub_id_ = sub_id;
+}
+
+uint64_t can_message_t::get_timestamp() const
+{
+	return timestamp_;
+}
+
+void can_message_t::set_timestamp(uint64_t timestamp)
+{
+	timestamp_ = timestamp;
+}
+
+/// @brief Control whether the object is correctly initialized
+///  to be sent over the CAN bus
+///
+/// @return True if object correctly initialized and false if not.
+bool can_message_t::is_correct_to_send()
+{
+	if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID)
+	{
+		int i;
+		for(i=0;i<CAN_MESSAGE_SIZE;i++)
+			if(data_[i] != 0)
+				return true;
+	}
+	return false;
+}
+
+/// @brief Set format_ member value.
+///
+/// Preferred way to initialize these members by using
+/// convert_from_canfd_frame method.
+///
+/// @param[in] new_format - class member
+void can_message_t::set_format(const can_message_format_t new_format)
+{
+	if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID)
+		format_ = new_format;
+	else
+		ERROR("Can set format, wrong format chosen");
+}
+
+/// @brief Take a canfd_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
+/// @param[in] nbytes - bytes read from socket read operation.
+///
+/// @return A can_message_t object fully initialized with canfd_frame values.
+can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
+{
+	uint8_t maxdlen, length, flags = (uint8_t)NULL;
+	uint32_t id;
+	can_message_format_t format;
+	bool rtr_flag;
+	std::vector<uint8_t> data;
+
+	switch(nbytes)
+	{
+		case CANFD_MTU:
+			DEBUG("Got an CAN FD frame");
+			maxdlen = CANFD_MAX_DLEN;
+			break;
+		case CAN_MTU:
+			DEBUG("Got a legacy CAN frame");
+			maxdlen = CAN_MAX_DLEN;
+			break;
+		default:
+			ERROR("unsupported CAN frame");
+			break;
+	}
+
+	if (frame.can_id & CAN_ERR_FLAG)
+	{
+		format = can_message_format_t::INVALID;
+		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+	}
+	else if (frame.can_id & CAN_EFF_FLAG)
+	{
+		format = can_message_format_t::EXTENDED;
+		id = frame.can_id & CAN_EFF_MASK;
+	}
+	else
+	{
+		format = can_message_format_t::STANDARD;
+		id = frame.can_id & CAN_SFF_MASK;
+	}
+
+	/* Overwrite length_ if RTR flags is detected.
+	 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+	if (frame.can_id & CAN_RTR_FLAG)
+	{
+		rtr_flag = true;
+		if(frame.len && frame.len <= CAN_MAX_DLC)
+		{
+			if(rtr_flag)
+				length = frame.len& 0xF;
+			else
+			{
+				length = (frame.len > maxdlen) ? maxdlen : frame.len;
+			}
+		}
+	}
+	else
+	{
+		length = (frame.len > maxdlen) ? maxdlen : frame.len;
+
+		/* Flags field only present for CAN FD frames*/
+		if(maxdlen == CANFD_MAX_DLEN)
+				flags = frame.flags & 0xF;
+
+		if (data.capacity() < maxdlen)
+			data.reserve(maxdlen);
+				int i;
+
+			data.clear();
+			/* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
+			for(i=0;i<maxdlen;i++)
+			{
+				data.push_back(frame.data[i]);
+			};
+
+		DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+								id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+	}
+
+	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
+}
+
+/// @brief Take a can_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - can_frame to convert coming from a read of CAN socket
+/// @param[in] nbytes - bytes read from socket read operation.
+///
+/// @return A can_message_t object fully initialized with can_frame values.
+can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
+{
+	uint8_t maxdlen, length, flags = (uint8_t)NULL;
+	uint32_t id;
+	can_message_format_t format;
+	bool rtr_flag;
+	std::vector<uint8_t> data;
+
+	if(nbytes <= CAN_MTU)
+	{
+			DEBUG("Got a legacy CAN frame");
+			maxdlen = CAN_MAX_DLEN;
+	}
+	else
+	{
+			ERROR("unsupported CAN frame");
+	}
+
+	if (frame.can_id & CAN_ERR_FLAG)
+	{
+		format = can_message_format_t::INVALID;
+		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+	}
+	else if (frame.can_id & CAN_EFF_FLAG)
+	{
+		format = can_message_format_t::EXTENDED;
+		id = frame.can_id & CAN_EFF_MASK;
+	}
+	else
+	{
+		format = can_message_format_t::STANDARD;
+		id = frame.can_id & CAN_SFF_MASK;
+	}
+
+	/* Overwrite length_ if RTR flags is detected.
+	 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+	if (frame.can_id & CAN_RTR_FLAG)
+	{
+		rtr_flag = true;
+		if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
+		{
+			if(rtr_flag)
+				length = frame.can_dlc& 0xF;
+			else
+			{
+				length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+			}
+		}
+	}
+	else
+	{
+		length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+
+		if (data.capacity() < maxdlen)
+			data.reserve(maxdlen);
+				int i;
+
+			data.clear();
+			/* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
+			for(i=0;i<maxdlen;i++)
+			{
+				data.push_back(frame.data[i]);
+			};
+
+//		DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+//								id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+	}
+
+	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
+}
+
+/// @brief Take all initialized class's members and build an
+/// canfd_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return canfd_frame struct built from class members.
+struct canfd_frame can_message_t::convert_to_canfd_frame()
+{
+	canfd_frame frame;
+
+	if(is_correct_to_send())
+	{
+		frame.can_id = get_id();
+		frame.len = get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		ERROR("can_message_t not correctly initialized to be sent");
+
+	return frame;
+}
+
+/// @brief Take all initialized class's members and build an
+/// can_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return can_frame struct built from class members.
+struct can_frame can_message_t::convert_to_can_frame()
+{
+	can_frame frame;
+
+	if(is_correct_to_send())
+	{
+		frame.can_id = get_id();
+		frame.can_dlc = get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		ERROR("can_message_t not correctly initialized to be sent");
+
+	return frame;
+}