Add feature to build messages and fix some functions

Allows to build a message (J1939,BCM) with a signal and a value.

Bug-AGL: SPEC-2386
Bug-AGL: SPEC-2976

Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Change-Id: Iadca13a927ff83f713f39da441c88356695a1285
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

10 files changed, 313 insertions, 48 deletions

diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp
index a11dedfc..ccd49722 100644
--- a/low-can-binding/can/can-encoder.cpp
+++ b/low-can-binding/can/can-encoder.cpp
@@ -51,10 +51,122 @@ const canfd_frame encoder_t::build_frame(const std::shared_ptr<signal_t>& signal
 					cf.data,
 					cf.len);
 	}
-
 	return cf;
 }
 
+
+/**
+ * @brief Allows to build a single frame message with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @param message A single frame message to complete
+ * @return message_t*  The message that is generated
+ */
+message_t* encoder_t::build_one_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
+{
+	signal->set_last_value((float)value);
+	uint8_t data_tab[message->get_length()];
+	::memset(&data_tab, 0, sizeof(data_tab));
+	std::vector<uint8_t> data;
+
+	for(const auto& sig: signal->get_message()->get_signals())
+	{
+		float last_value = sig->get_last_value();
+		bitfield_encode_float(last_value,
+					sig->get_bit_position(),
+					sig->get_bit_size(),
+					sig->get_factor(),
+					sig->get_offset(),
+					data_tab,
+					(uint8_t)message->get_length());
+	}
+
+	for (size_t i = 0; i < (uint8_t) message->get_length(); i++)
+	{
+		data.push_back(data_tab[i]);
+	}
+
+	message->set_data(data);
+	return message;
+}
+
+/**
+ * @brief Allows to build a multi frame message with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @param message A multi frame message to complete
+ * @return message_t*  The message that is generated
+ */
+message_t* encoder_t::build_multi_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
+{
+	signal->set_last_value((float)value);
+	std::vector<uint8_t> data;
+
+	uint32_t msgs_len = signal->get_message()->get_length(); // multi frame - number of bytes
+	int number_of_frame = (int) msgs_len / 8;
+
+	uint8_t data_tab[number_of_frame][8] = {0};
+
+	for(const auto& sig: signal->get_message()->get_signals())
+	{
+
+		int frame_position = (int) sig->get_bit_position() / 64;
+		float last_value = sig->get_last_value();
+		uint8_t bit_position = sig->get_bit_position() - ((uint8_t)(64 * frame_position));
+
+		bitfield_encode_float(last_value,
+					bit_position,
+					sig->get_bit_size(),
+					sig->get_factor(),
+					sig->get_offset(),
+					data_tab[frame_position],
+					8);
+	}
+
+	for (size_t i = 0; i < number_of_frame; i++)
+	{
+		for(size_t j = 0; j < 8 ; j++)
+		{
+			data.push_back(data_tab[i][j]);
+		}
+	}
+
+	message->set_data(data);
+	return message;
+}
+
+/**
+ * @brief Allows to build a message_t with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @return message_t* The message that is generated
+ */
+message_t* encoder_t::build_message(const std::shared_ptr<signal_t>& signal, uint64_t value)
+{
+	message_t *message;
+	std::vector<uint8_t> data;
+	if(signal->get_message()->is_fd())
+	{
+		message = new can_message_t(CANFD_MAX_DLEN,signal->get_message()->get_id(),CANFD_MAX_DLEN,signal->get_message()->get_format(),false,CAN_FD_FRAME,data,0);
+		return build_one_frame_message(signal,value,message);
+	}
+#ifdef USE_FEATURE_J1939
+	else if(signal->get_message()->is_j1939())
+	{
+		message = new j1939_message_t(J1939_MAX_DLEN,signal->get_message()->get_length(),signal->get_message()->get_format(),data,0,J1939_NO_NAME,signal->get_message()->get_id(),J1939_NO_ADDR);
+		return build_multi_frame_message(signal,value,message);
+	}
+#endif
+	else
+	{
+		message = new can_message_t(CAN_MAX_DLEN,signal->get_message()->get_id(),CAN_MAX_DLEN,signal->get_message()->get_format(),false,0,data,0);
+		return build_one_frame_message(signal,value,message);
+	}
+}
+
 /// @brief Encode a boolean into an integer, fit for a CAN signal bitfield.
 ///
 /// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
diff --git a/low-can-binding/can/can-encoder.hpp b/low-can-binding/can/can-encoder.hpp
index 6ae786a1..c37521f4 100644
--- a/low-can-binding/can/can-encoder.hpp
+++ b/low-can-binding/can/can-encoder.hpp
@@ -20,11 +20,18 @@
 #include "signals.hpp"
 #include "message/can-message.hpp"
 #include "openxc.pb.h"
+#include "message/can-message.hpp"
+#ifdef USE_FEATURE_J1939
+#include "message/j1939-message.hpp"
+#endif
 
 class encoder_t
 {
 public:
 	static const canfd_frame build_frame(const std::shared_ptr<signal_t>& signal, uint64_t value);
+	static message_t* build_message(const std::shared_ptr<signal_t>& signal, uint64_t value);
+	static message_t* build_one_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message);
+	static message_t* build_multi_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message);
 	static uint64_t encode_state(const signal_t& signal, const std::string& value, bool* send);
 	static uint64_t encode_boolean(const signal_t& signal, bool value, bool* send);
 	static uint64_t encode_number(const signal_t& signal, float value, bool* send);
diff --git a/low-can-binding/can/message-definition.cpp b/low-can-binding/can/message-definition.cpp
index efc72f07..064b2c17 100644
--- a/low-can-binding/can/message-definition.cpp
+++ b/low-can-binding/can/message-definition.cpp
@@ -102,3 +102,13 @@ void message_definition_t::set_last_value(std::shared_ptr<message_t> m)
 {
 	last_value_= m->get_data_vector();
 }
+
+uint32_t message_definition_t::get_length() const
+{
+	return length_;
+}
+
+message_format_t message_definition_t::get_format() const
+{
+	return format_;
+}
\ No newline at end of file
diff --git a/low-can-binding/can/message-definition.hpp b/low-can-binding/can/message-definition.hpp
index 1773e6b8..f39bb71e 100644
--- a/low-can-binding/can/message-definition.hpp
+++ b/low-can-binding/can/message-definition.hpp
@@ -86,6 +86,8 @@ public:
 	bool is_fd() const;
 	bool is_j1939() const;
 	std::vector<std::shared_ptr<signal_t>>& get_signals();
+	uint32_t get_length() const;
+	message_format_t get_format() const;
 
 	void set_parent(std::shared_ptr<message_set_t> parent);
 	void set_last_value(std::shared_ptr<message_t>  m);
diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp
index b012bbe5..945c0ba7 100644
--- a/low-can-binding/can/message/can-message.cpp
+++ b/low-can-binding/can/message/can-message.cpp
@@ -28,22 +28,20 @@
 ///
 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,
+can_message_t::can_message_t(uint32_t maxdlen,
 	uint32_t id,
-	uint8_t length,
+	uint32_t length,
 	message_format_t format,
 	bool rtr_flag,
-	uint8_t flags,
+	uint32_t flags,
 	std::vector<uint8_t>& data,
 	uint64_t timestamp)
-	: message_t(length, format, data, timestamp),
-	maxdlen_{maxdlen},
+	: message_t(maxdlen, length, format, data, timestamp),
 	id_{id},
 	rtr_flag_{rtr_flag},
 	flags_{flags}
@@ -86,7 +84,8 @@ bool can_message_t::is_correct_to_send()
 /// @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 maxdlen = 0, length = 0;
+	uint8_t flags = 0;
 	uint32_t id;
 	message_format_t format;
 	bool rtr_flag;
@@ -164,6 +163,47 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca
 	return std::make_shared<can_message_t>(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 = (uint8_t) 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 = (uint8_t) get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+	return frame;
+}
 
 bool can_message_t::is_set()
 {
@@ -192,3 +232,7 @@ void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
 	bcm_msg_ = bcm_msg;
 }
 
+uint32_t can_message_t::get_flags()
+{
+	return flags_;
+}
\ No newline at end of file
diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp
index df0d2a19..7625cc17 100644
--- a/low-can-binding/can/message/can-message.hpp
+++ b/low-can-binding/can/message/can-message.hpp
@@ -26,24 +26,26 @@
 /// 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.*/
+		uint32_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, message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+		can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, message_format_t format, bool rtr_flag_, uint32_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);
+		struct canfd_frame convert_to_canfd_frame();
+		struct can_frame convert_to_can_frame();
+
 		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();
-
+		uint32_t get_flags();
 };
diff --git a/low-can-binding/can/message/j1939-message.cpp b/low-can-binding/can/message/j1939-message.cpp
index dad8e7f1..08fc1302 100644
--- a/low-can-binding/can/message/j1939-message.cpp
+++ b/low-can-binding/can/message/j1939-message.cpp
@@ -16,14 +16,16 @@
  */
 
 #include <cstring>
+#include <sstream>
+#include <iomanip>
+#include <net/if.h>
 #include "../../binding/low-can-hat.hpp"
 #include "j1939-message.hpp"
 
-///
-/// @brief Class constructor
-///
-/// j1939_message_t class constructor.
-///
+/**
+ * @brief Construct a new j1939 message t::j1939 message t object
+ *
+ */
 j1939_message_t::j1939_message_t():
     message_t(),
     name_{0},
@@ -31,14 +33,27 @@ j1939_message_t::j1939_message_t():
     addr_{0}
 {}
 
-j1939_message_t::j1939_message_t(uint8_t length,
+/**
+ * @brief Construct a new j1939 message t::j1939 message t object
+ *
+ * @param maxdlen The max length of the message
+ * @param length The length of the message
+ * @param format The format of the message
+ * @param data The vector data of the message
+ * @param timestamp The timetamp of the message
+ * @param name The name of the message
+ * @param pgn The PGN of the message
+ * @param addr The address of the message
+ */
+j1939_message_t::j1939_message_t(uint32_t maxdlen,
+    uint32_t length,
     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),
+    message_t(maxdlen,length, format, data, timestamp),
     name_{name},
     pgn_{pgn},
     addr_{addr}
@@ -71,6 +86,23 @@ uint8_t j1939_message_t::get_addr() const{
     return addr_;
 }
 
+/**
+ * @brief Convert hex data to string
+ *
+ * @param data An array of data
+ * @param length The length of the data
+ * @return std::string The string data
+ */
+std::string to_hex( uint8_t data[], const size_t length)
+{
+    std::stringstream stream;
+    stream << std::hex << std::setfill('0');
+    for(int i = 0; i < length; i++)
+    {
+        stream << std::hex << ((int) data[i]);
+    }
+    return stream.str();
+}
 
 /// @brief Take a sockaddr_can struct and array of data to initialize class members
 ///
@@ -84,9 +116,10 @@ uint8_t j1939_message_t::get_addr() const{
 /// @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;
-	message_format_t format;
-	std::vector<uint8_t> dataVector;
+    int i;
+    uint32_t length = 0;
+    message_format_t format;
+    std::vector<uint8_t> data_vector;
 
     if(nbytes > J1939_MAX_DLEN)
     {
@@ -95,23 +128,27 @@ std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct socka
     }
     else
     {
-        AFB_DEBUG("Got a j1939 frame");
+        //AFB_DEBUG("Got a j1939 frame");
         format = message_format_t::J1939;
     }
 
-    length = (uint8_t) nbytes;
-    dataVector.reserve(length);
-    int i;
-    dataVector.clear();
+    length = (uint32_t) nbytes;
+    data_vector.reserve(length);
+
+    data_vector.clear();
+
+    std::string data_string;
+    data_string = to_hex(data,length);
+
     for(i=0;i<length;i++)
     {
-        dataVector.push_back(data[i]);
+        data_vector.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]);
+    AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %s",
+                            addr.can_addr.j1939.pgn, (uint8_t)format, length, data_string.c_str());
 
-	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));
+    return std::make_shared<j1939_message_t>(j1939_message_t(J1939_MAX_DLEN,length, format, data_vector, 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.
@@ -143,7 +180,7 @@ std::string j1939_message_t::get_debug_message()
 ///
 uint32_t j1939_message_t::get_id() const
 {
-    AFB_WARNING("Prefer method get_pgn() for j1939 messages");
+    AFB_DEBUG("Prefer method get_pgn() for j1939 messages");
 	return get_pgn();
 }
 
diff --git a/low-can-binding/can/message/j1939-message.hpp b/low-can-binding/can/message/j1939-message.hpp
index 482f167d..aad62a1f 100644
--- a/low-can-binding/can/message/j1939-message.hpp
+++ b/low-can-binding/can/message/j1939-message.hpp
@@ -19,11 +19,12 @@
 
 #include <linux/can/j1939.h>
 #include "message.hpp"
-#include "../../utils/socketcan-j1939.hpp"
+
 
 #define J1939_MAX_MULTIPACKETS 255
 #define J1939_MAX_DLEN J1939_MAX_MULTIPACKETS * CAN_MAX_DLEN
 
+
 class j1939_message_t : public message_t
 {
     private:
@@ -54,12 +55,19 @@ class j1939_message_t : public message_t
 
 
         /* J1939 Address
+            0-255
          */
         uint8_t addr_;
 
+        /**
+         * @brief The sockanme to send a message to
+         * an other ECU
+         */
+        struct sockaddr_can sockname_;
+
     public:
         j1939_message_t();
-        j1939_message_t(uint8_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr);
+        j1939_message_t(uint32_t maxdlen, uint32_t length, 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;
diff --git a/low-can-binding/can/message/message.cpp b/low-can-binding/can/message/message.cpp
index 2ae095cb..5384c021 100644
--- a/low-can-binding/can/message/message.cpp
+++ b/low-can-binding/can/message/message.cpp
@@ -21,29 +21,45 @@
 
 #include "../../binding/low-can-hat.hpp"
 
-///
-/// @brief Class constructor
-///
-/// message_t class constructor.
-///
+/**
+ * @brief Construct a new message t::message t object
+ *
+ */
 message_t::message_t()
-	: length_{0},
+	: maxdlen_{0},
+	 length_{0},
 	 format_{message_format_t::INVALID},
 	 timestamp_{0},
 	 sub_id_{-1}
 {}
 
-message_t::message_t(uint8_t length,
+/**
+ * @brief Construct a new message t::message t object
+ *
+ * @param maxdlen The maxdlen of a message
+ * @param length The length of the message
+ * @param format The format of the message
+ * @param data The data vector of the message
+ * @param timestamp The timestamp of the message
+ */
+message_t::message_t(uint32_t maxdlen,
+	uint32_t length,
 	message_format_t format,
 	std::vector<uint8_t>& data,
 	uint64_t timestamp)
-	: length_{length},
+	: maxdlen_{maxdlen},
+	length_{length},
 	format_{format},
 	data_{data},
 	timestamp_{timestamp},
 	sub_id_{-1}
 {}
 
+/**
+ * @brief Return the sub_id of the message
+ *
+ * @return int The sub_id of the message
+ */
 int message_t::get_sub_id() const
 {
 	return sub_id_;
@@ -75,21 +91,46 @@ const std::vector<uint8_t> message_t::get_data_vector() const
 ///
 /// @return length_ class member
 ///
-uint8_t message_t::get_length() const
+uint32_t message_t::get_length() const
 {
 	return length_;
 }
 
+/**
+ * @brief Set data vector of the message
+ *
+ * @param data A vector of data
+ */
+void message_t::set_data(std::vector<uint8_t> &data)
+{
+	data_ = data;
+}
+
+/**
+ * @brief Set sub_id of the message
+ *
+ * @param sub_id The sub_id to set
+ */
 void message_t::set_sub_id(int sub_id)
 {
 	sub_id_ = sub_id;
 }
 
+/**
+ * @brief Return the timestamp of the message
+ *
+ * @return uint64_t The timestamp
+ */
 uint64_t message_t::get_timestamp() const
 {
 	return timestamp_;
 }
 
+/**
+ * @brief Return the format of the message
+ *
+ * @return message_format_t The message format
+ */
 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
index e62b6c6b..5be1ff18 100644
--- a/low-can-binding/can/message/message.hpp
+++ b/low-can-binding/can/message/message.hpp
@@ -57,30 +57,32 @@ enum class message_format_t {
 /// 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). */
+	uint32_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+	uint32_t length_; ///< length_ - the length of the data array. */
 	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, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+	message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+	virtual ~message_t() = default;
 
 	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;
+	uint32_t get_length() const;
 	uint64_t get_timestamp() const;
 
+	void set_data(std::vector<uint8_t> &data);
 	void set_sub_id(int sub_id);
 	void set_timestamp(uint64_t timestamp);
 	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;
 
 };