Change can_message_t class usage for new j1939

This commit transforms the class can_message_t as the base class
and creates two derived classes: j1939_message_t and can_message_t.

Bug-AGL: SPEC-2386

Change-Id: I6d3afd8e4f5abff2cd0ec4e9910bd52a2893de76
Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Signed-off-by: Stephane Desneux <stephane.desneux@iot.bzh>
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

6 files changed, 661 insertions, 0 deletions

diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp
new file mode 100644
index 00000000..91f66252
--- /dev/null
+++ b/low-can-binding/can/message/can-message.cpp
@@ -0,0 +1,194 @@
+/*
+ * 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
+///
+/// can_message_t class constructor.
+///
+can_message_t::can_message_t()
+	: message_t(),
+	 maxdlen_{0},
+	 id_{0},
+	 rtr_flag_{false},
+	 flags_{0}
+{}
+
+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)
+	: message_t(length, format, data, timestamp),
+	maxdlen_{maxdlen},
+	id_{id},
+	rtr_flag_{rtr_flag},
+	flags_{flags}
+{}
+
+///
+/// @brief Retrieve id_ member value.
+///
+/// @return id_ class member
+///
+uint32_t can_message_t::get_id() const
+{
+	return id_;
+}
+
+
+/// @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 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.
+std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
+{
+	uint8_t maxdlen = 0, length = 0, flags = 0;
+	uint32_t id;
+	can_message_format_t format;
+	bool rtr_flag;
+	std::vector<uint8_t> data;
+
+	switch(nbytes)
+	{
+		case CANFD_MTU:
+			AFB_DEBUG("Got an CAN FD frame");
+			maxdlen = CANFD_MAX_DLEN;
+			break;
+		case CAN_MTU:
+			AFB_DEBUG("Got a legacy CAN frame");
+			maxdlen = CAN_MAX_DLEN;
+			break;
+		default:
+			AFB_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]);
+			};
+
+		AFB_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 std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp));
+}
+
+
+bool can_message_t::is_set()
+{
+	return (id_ != 0 && length_ != 0);
+}
+
+std::string can_message_t::get_debug_message()
+{
+	std::string ret = "";
+    ret = ret + "Here is the next can message : id " + std::to_string(id_)  + " length " + std::to_string(length_) + ", data ";
+    for (size_t i = 0; i < data_.size(); i++)
+    {
+        ret = ret + std::to_string(data_[i]);
+    }
+
+    return ret;
+}
+
+struct bcm_msg can_message_t::get_bcm_msg()
+{
+	return bcm_msg_;
+}
+
+void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
+{
+	bcm_msg_ = bcm_msg;
+}
+
diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp
new file mode 100644
index 00000000..5aa302cc
--- /dev/null
+++ b/low-can-binding/can/message/can-message.hpp
@@ -0,0 +1,49 @@
+/*
+ * 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.
+ */
+
+#pragma once
+#include "./message.hpp"
+
+
+
+/// @class can_message_t
+///
+/// @brief A compact representation of a single CAN message, meant to be used in in/out
+/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
+class can_message_t : public message_t {
+	private:
+		uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+		uint32_t id_; ///< id_ - The ID of the message. */
+		bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
+		uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
+		struct bcm_msg bcm_msg_;
+
+	public:
+		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);
+
+		uint32_t get_id() const;
+
+		static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
+		bool is_correct_to_send();
+		bool is_set();
+		struct bcm_msg get_bcm_msg();
+		void set_bcm_msg(struct bcm_msg bcm_msg);
+
+		std::string get_debug_message();
+
+};
diff --git a/low-can-binding/can/message/j1939-message.cpp b/low-can-binding/can/message/j1939-message.cpp
new file mode 100644
index 00000000..8269cbfa
--- /dev/null
+++ b/low-can-binding/can/message/j1939-message.cpp
@@ -0,0 +1,163 @@
+/*
+ * Copyright (C) 2018, 2019 "IoT.bzh"
+ * Author "Arthur Guyader" <arthur.guyader@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 "./j1939-message.hpp"
+#include <cstring>
+#include "../../binding/low-can-hat.hpp"
+
+
+///
+/// @brief Class constructor
+///
+/// j1939_message_t class constructor.
+///
+j1939_message_t::j1939_message_t():
+    message_t(),
+    name_{0},
+    pgn_{0},
+    addr_{0}
+{}
+
+j1939_message_t::j1939_message_t(uint8_t length,
+    can_message_format_t format,
+    std::vector<uint8_t>& data,
+    uint64_t timestamp,
+    name_t name,
+    pgn_t pgn,
+    uint8_t addr):
+    message_t(length, format, data, timestamp),
+    name_{name},
+    pgn_{pgn},
+    addr_{addr}
+{}
+
+///
+/// @brief Retrieve name_ member value.
+///
+/// @return name_ class member
+///
+uint64_t j1939_message_t::get_name() const {
+    return name_;
+}
+
+///
+/// @brief Retrieve pgn_ member value.
+///
+/// @return pgn_ class member
+///
+uint32_t j1939_message_t::get_pgn() const{
+    return pgn_;
+}
+
+///
+/// @brief Retrieve addr_ member value.
+///
+/// @return addr_ class member
+///
+uint8_t j1939_message_t::get_addr() const{
+    return addr_;
+}
+
+
+/// @brief Take a sockaddr_can struct and array of data to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] addr - sockaddr_can to get pgn, name and addr
+/// @param[in] data - array of data get from the j1939 socket
+/// @param[in] nbytes - size of the array of data
+/// @param[in] timestamp - timestamp of the message
+///
+/// @return A j1939_message_t object fully initialized with sockaddr_can and data values.
+std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct sockaddr_can& addr, uint8_t (&data)[128],size_t nbytes, uint64_t timestamp)
+{
+	uint8_t length = 0;
+	can_message_format_t format;
+	std::vector<uint8_t> dataVector;
+
+    if(nbytes > J1939_MAX_DLEN)
+    {
+        AFB_DEBUG("Unsupported j1939 frame");
+        format = can_message_format_t::INVALID;
+    }
+    else
+    {
+        AFB_DEBUG("Got a j1939 frame");
+        format = can_message_format_t::J1939;
+    }
+
+    length = (uint8_t) nbytes;
+    dataVector.reserve(length);
+    int i;
+    dataVector.clear();
+    for(i=0;i<length;i++)
+    {
+        dataVector.push_back(data[i]);
+    };
+
+    AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+                            addr.can_addr.j1939.pgn, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+
+	return std::make_shared<j1939_message_t>(j1939_message_t(length, format, dataVector, timestamp,addr.can_addr.j1939.name,addr.can_addr.j1939.pgn,addr.can_addr.j1939.addr));
+}
+
+/// @brief Test if members pgn_ and length are set.
+///
+/// @return boolean - true = set - false = not set
+bool j1939_message_t::is_set()
+{
+	return (pgn_ != 0 && length_ != 0);
+}
+
+/// @brief Generate a string with informations about the message
+///
+/// @return Debug message with informations about members
+std::string j1939_message_t::get_debug_message()
+{
+	std::string ret = "";
+    ret = ret + "Here is the next j1939 message : pgn " + std::to_string(pgn_)  + " length " + std::to_string(length_) + ", data ";
+    for (size_t i = 0; i < data_.size(); i++)
+    {
+        ret = ret + std::to_string(data_[i]);
+    }
+    return ret;
+}
+
+///
+/// @brief Retrieve pgn_ member value.
+///
+/// @return pgn_ class member
+///
+uint32_t j1939_message_t::get_id() const
+{
+    AFB_WARNING("Prefer method get_pgn() for j1939 messages");
+	return get_pgn();
+}
+
+
+struct bcm_msg j1939_message_t::get_bcm_msg()
+{
+    AFB_WARNING("Not implemented");
+    struct bcm_msg bcm_msg;
+    ::memset(&bcm_msg, 0, sizeof(struct bcm_msg));
+	return bcm_msg;
+}
+
+void j1939_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
+{
+	AFB_WARNING("Not implemented");
+}
diff --git a/low-can-binding/can/message/j1939-message.hpp b/low-can-binding/can/message/j1939-message.hpp
new file mode 100644
index 00000000..74b625e0
--- /dev/null
+++ b/low-can-binding/can/message/j1939-message.hpp
@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2018, 2019 "IoT.bzh"
+ * Author "Arthur Guyader" <arthur.guyader@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.
+ */
+
+#pragma once
+#include <linux/can.h>
+#include <linux/can/j1939.h>
+#include "./message.hpp"
+
+#define J1939_MAX_MULTIPACKETS 255
+#define J1939_MAX_DLEN J1939_MAX_MULTIPACKETS * CAN_MAX_DLEN
+
+class j1939_message_t : public message_t
+{
+    private:
+        /* J1939 NAME
+        *
+        * bit 0-20	: Identity Number
+        * bit 21-31	: Manufacturer Code
+        * bit 32-34	: ECU Instance
+        * bit 35-39	: Function Instance
+        * bit 40-47	: Function
+        * bit 48	: Reserved
+        * bit 49-55	: Vehicle System
+        * bit 56-59	: Vehicle System Instance
+        * bit 60-62	: Industry Group
+        * bit 63	: Arbitrary Address Capable
+        */
+        name_t name_;
+
+        /* J1939 Parameter Group Number
+        *
+        * bit 0-7	: PDU Specific (PS)
+        * bit 8-15	: PDU Format (PF)
+        * bit 16	: Data Page (DP)
+        * bit 17	: Reserved (R)
+        * bit 19-31	: set to zero
+        */
+        pgn_t pgn_;
+
+
+        /* J1939 Address
+         */
+        uint8_t addr_;
+
+    public:
+        j1939_message_t();
+        j1939_message_t(uint8_t length, can_message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr);
+        uint64_t get_name() const;
+        uint32_t get_pgn() const;
+        uint8_t get_addr() const;
+        static std::shared_ptr<j1939_message_t> convert_from_addr(struct sockaddr_can& addr, uint8_t (&data)[128], size_t nbytes, uint64_t timestamp);
+        bool is_set();
+        std::string get_debug_message();
+        uint32_t get_id() const;
+        struct bcm_msg get_bcm_msg();
+		void set_bcm_msg(struct bcm_msg bcm_msg);
+};
+
+
diff --git a/low-can-binding/can/message/message.cpp b/low-can-binding/can/message/message.cpp
new file mode 100644
index 00000000..fe37e7ad
--- /dev/null
+++ b/low-can-binding/can/message/message.cpp
@@ -0,0 +1,96 @@
+/*
+ * 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 "./message.hpp"
+
+#include <cstring>
+
+#include "../../binding/low-can-hat.hpp"
+
+///
+/// @brief Class constructor
+///
+/// message_t class constructor.
+///
+message_t::message_t()
+	: length_{0},
+	 format_{can_message_format_t::INVALID},
+	 timestamp_{0},
+	 sub_id_{-1}
+{}
+
+message_t::message_t(uint8_t length,
+	can_message_format_t format,
+	std::vector<uint8_t>& data,
+	uint64_t timestamp)
+	: length_{length},
+	format_{format},
+	data_{data},
+	timestamp_{timestamp},
+	sub_id_{-1}
+{}
+
+int message_t::get_sub_id() const
+{
+	return sub_id_;
+}
+
+///
+/// @brief Retrieve data_ member value.
+///
+/// @return pointer to the first element
+///  of class member data_
+///
+const uint8_t* message_t::get_data() const
+{
+	return data_.data();
+}
+
+///
+/// @brief Retrieve data_ member whole vector
+///
+/// @return the vector as is
+///
+const std::vector<uint8_t> message_t::get_data_vector() const
+{
+	return data_;
+}
+
+///
+/// @brief Retrieve length_ member value.
+///
+/// @return length_ class member
+///
+uint8_t message_t::get_length() const
+{
+	return length_;
+}
+
+void message_t::set_sub_id(int sub_id)
+{
+	sub_id_ = sub_id;
+}
+
+uint64_t message_t::get_timestamp() const
+{
+	return timestamp_;
+}
+
+can_message_format_t message_t::get_msg_format()
+{
+	return format_;
+}
diff --git a/low-can-binding/can/message/message.hpp b/low-can-binding/can/message/message.hpp
new file mode 100644
index 00000000..6e0daada
--- /dev/null
+++ b/low-can-binding/can/message/message.hpp
@@ -0,0 +1,86 @@
+/*
+ * 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.
+ */
+
+#pragma once
+
+#include <vector>
+#include <string>
+#include <cstdint>
+#include <iostream>
+#include <memory>
+#include <linux/can.h>
+#include <linux/can/bcm.h>
+#include "../../utils/timer.hpp"
+
+#define CAN_MESSAGE_SIZE 8
+
+#define MAX_BCM_CAN_FRAMES 257
+
+struct bcm_msg
+{
+	struct bcm_msg_head msg_head;
+	union {
+		struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
+		struct can_frame frames[MAX_BCM_CAN_FRAMES];
+	};
+};
+
+/**
+ * @enum can_message_format_t
+ * @brief The ID format for a CAN message.
+ */
+enum class can_message_format_t {
+	STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */
+	EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
+	J1939,	  ///< J1939 	- Format for j1939 messages
+	INVALID,  ///< INVALID  - INVALID code used at initialization to signify that it isn't usable'*/
+};
+
+
+/// @class message_t
+///
+/// @brief A compact representation of a single CAN message, meant to be used in in/out
+/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
+class message_t {
+protected:
+	uint8_t length_; ///< length_ - the length of the data array (max 8). */
+	can_message_format_t format_; ///< format_ - the format of the message's ID.*/
+	std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+	uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/
+	int sub_id_; ///< sub_id_ - Subscription index. */
+
+
+public:
+	message_t();
+	message_t(uint8_t length, can_message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+
+	int get_sub_id() const;
+	const uint8_t* get_data() const;
+	const std::vector<uint8_t> get_data_vector() const;
+	uint8_t get_length() const;
+	uint64_t get_timestamp() const;
+
+	void set_sub_id(int sub_id);
+	void set_timestamp(uint64_t timestamp);
+	can_message_format_t get_msg_format();
+	virtual bool is_set() = 0;
+	virtual std::string get_debug_message() = 0;
+	virtual uint32_t get_id() const = 0;
+	virtual struct bcm_msg get_bcm_msg() = 0;
+	virtual void set_bcm_msg(struct bcm_msg bcm_msg) = 0;
+
+};