CAN FD implementation

Add a flag to CAN message definitions which set the message as using FD
protocol if true.

Use a new generated file with the new FD flag field on the message
definitions.

Change BCM socket "struct" using an union to store the CAN frames either
using the FD struct or the classic non FD struct. A BCM socket can only
one frame type once configured.

Use as much as possible the "struct canfd_frame" in the binding and only
make a difference before writing or reading the socket. From a memory
point of view both struct are identical and only the last member differ
and could hold more data with messages of 64 bytes long. So the
canfd_frame is compatible with the can_frame and can be differentiated
by a flag set in the can_id member.

Remove now unused code processing can_frame.

Keep the diagnostic manager using the classic CAN frame.

Set the maximum number of frames that a BCM socket can handle to 257.

Bug-AGL: SPEC-1980

Change-Id: Ifcc041281ea6745fc25cbd384743761f4446f489
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

6 files changed, 23 insertions, 132 deletions

diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp
index 4f1efa2a..4b8a2963 100644
--- a/low-can-binding/can/can-encoder.cpp
+++ b/low-can-binding/can/can-encoder.cpp
@@ -28,14 +28,15 @@
 /// @param[out] data - The destination buffer.
 /// @param[in] length - The length of the destination buffer.
 ///
-/// @return Returns a can_frame struct initialized and ready to be send.
-const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value)
+/// @return Returns a canfd_frame struct initialized and ready to be send.
+const canfd_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value)
 {
-	struct can_frame cf;
+	struct canfd_frame cf;
 	::memset(&cf, 0, sizeof(cf));
 
 	cf.can_id = signal->get_message()->get_id();
-	cf.can_dlc = CAN_MAX_DLEN;
+	cf.len = signal->get_message()->is_fd() ?
+		 CANFD_MAX_DLEN : CAN_MAX_DLEN;
 
 	signal->set_last_value((float)value);
 
@@ -48,7 +49,7 @@ const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& sign
 					sig->get_factor(),
 					sig->get_offset(),
 					cf.data,
-					CAN_MAX_DLEN);
+					cf.len);
 	}
 
 	return cf;
diff --git a/low-can-binding/can/can-encoder.hpp b/low-can-binding/can/can-encoder.hpp
index c79e2245..f8398836 100644
--- a/low-can-binding/can/can-encoder.hpp
+++ b/low-can-binding/can/can-encoder.hpp
@@ -24,7 +24,7 @@
 class encoder_t
 {
 public:
-	static const can_frame build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value);
+	static const canfd_frame build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value);
 	static uint64_t encode_state(const can_signal_t& signal, const std::string& value, bool* send);
 	static uint64_t encode_boolean(const can_signal_t& signal, bool value, bool* send);
 	static uint64_t encode_number(const can_signal_t& signal, float value, bool* send);
diff --git a/low-can-binding/can/can-message-definition.cpp b/low-can-binding/can/can-message-definition.cpp
index 28d45fe5..ae957d14 100644
--- a/low-can-binding/can/can-message-definition.cpp
+++ b/low-can-binding/can/can-message-definition.cpp
@@ -54,6 +54,7 @@ can_message_definition_t::can_message_definition_t(
 can_message_definition_t::can_message_definition_t(
 	const std::string bus,
 	uint32_t id,
+	bool is_fd,
 	can_message_format_t format,
 	frequency_clock_t frequency_clock,
 	bool force_send_changed,
@@ -61,6 +62,7 @@ can_message_definition_t::can_message_definition_t(
 	:  parent_{nullptr},
 	bus_{bus},
 	id_{id},
+	is_fd_(is_fd),
 	format_{format},
 	frequency_clock_{frequency_clock},
 	force_send_changed_{force_send_changed},
@@ -84,6 +86,11 @@ uint32_t can_message_definition_t::get_id() const
 	return id_;
 }
 
+bool can_message_definition_t::is_fd() const
+{
+	return is_fd_;
+}
+
 std::vector<std::shared_ptr<can_signal_t> >& can_message_definition_t::get_can_signals()
 {
 	return can_signals_;
diff --git a/low-can-binding/can/can-message-definition.hpp b/low-can-binding/can/can-message-definition.hpp
index 6d0f17d6..b9025cbb 100644
--- a/low-can-binding/can/can-message-definition.hpp
+++ b/low-can-binding/can/can-message-definition.hpp
@@ -43,6 +43,7 @@ private:
 	can_message_set_t* parent_; ///< parent_ - Pointer to the CAN message set holding this CAN message definition */
 	std::string bus_; ///< bus_ - Address of CAN bus device. */
 	uint32_t id_; ///< id_ - The ID of the message.*/
+	bool is_fd_; /*!< uses_fd_ - Flags to enable an FD CAN message communication*/
 	can_message_format_t format_; ///< format_ - the format of the message's ID.*/
 	frequency_clock_t frequency_clock_; ///<  clock_ - an optional frequency clock to control the output of this
 							///      message, if sent raw, or simply to mark the max frequency for custom
@@ -59,11 +60,18 @@ public:
 	can_message_definition_t(const std::string bus);
 	can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed);
 	can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
-	can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<can_signal_t> >& can_signals);
+	can_message_definition_t(const std::string bus,
+				 uint32_t id,
+				 bool is_fd,
+				 can_message_format_t format,
+				 frequency_clock_t frequency_clock,
+				 bool force_send_changed,
+				 const std::vector<std::shared_ptr<can_signal_t> >& can_signals);
 
 	const std::string get_bus_name() const;
 	const std::string get_bus_device_name() const;
 	uint32_t get_id() const;
+	bool is_fd() const;
 	std::vector<std::shared_ptr<can_signal_t> >& get_can_signals();
 
 	void set_parent(can_message_set_t* parent);
diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp
index 1b27d0f6..9ec35668 100644
--- a/low-can-binding/can/can-message.cpp
+++ b/low-can-binding/can/can-message.cpp
@@ -266,124 +266,3 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame,
 
 	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 = 0, length = 0, flags = 0;
-	uint32_t id;
-	can_message_format_t format;
-	bool rtr_flag;
-	std::vector<uint8_t> data;
-
-	if(nbytes <= CAN_MTU)
-	{
-			AFB_DEBUG("Got a legacy CAN frame");
-			maxdlen = CAN_MAX_DLEN;
-	}
-	else
-	{
-			AFB_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]);
-			};
-
-//		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 can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
-}
-
-/// @brief Take all initialized class members and build a
-/// 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
-		AFB_ERROR("can_message_t not correctly initialized to be sent");
-
-	return frame;
-}
-
-/// @brief Take all initialized class members and build a
-/// 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
-		AFB_ERROR("can_message_t not correctly initialized to be sent");
-
-	return frame;
-}
diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/can-message.hpp
index b206ebdb..cf960b95 100644
--- a/low-can-binding/can/can-message.hpp
+++ b/low-can-binding/can/can-message.hpp
@@ -73,8 +73,4 @@ public:
 	bool is_correct_to_send();
 
 	static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
-	static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp);
-
-	struct canfd_frame convert_to_canfd_frame();
-	struct can_frame convert_to_can_frame();
 };