aboutsummaryrefslogtreecommitdiffstats
path: root/src/can-message.hpp
diff options
context:
space:
mode:
authorRomain Forlot <romain.forlot@iot.bzh>2017-02-28 12:00:43 +0100
committerRomain Forlot <romain.forlot@iot.bzh>2017-02-28 21:45:49 +0100
commitc009c3c329d30acfb6be3a8ed0671a9a07266546 (patch)
treee840446be82046d908d0e498d430fc8307c4c30e /src/can-message.hpp
parentd4c6484ca4f8d9eb8f97d7e0555e461f2831baa3 (diff)
Re-arranging objects splitting all objects over
separated files. Change-Id: Ifbdb2ea08704324e505a48ba3124df6f2af63c6b Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
Diffstat (limited to 'src/can-message.hpp')
-rw-r--r--src/can-message.hpp205
1 files changed, 205 insertions, 0 deletions
diff --git a/src/can-message.hpp b/src/can-message.hpp
new file mode 100644
index 00000000..f076c5ce
--- /dev/null
+++ b/src/can-message.hpp
@@ -0,0 +1,205 @@
+/*
+ * 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 <string>
+#include <cstdint>
+#include <linux/can.h>
+
+#include "timer.hpp"
+
+#define CAN_MESSAGE_SIZE 8
+
+/**
+ * @enum CanMessageFormat
+ * @brief The ID format for a CAN message.
+ */
+enum CanMessageFormat {
+ STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
+ EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
+ ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
+};
+typedef enum CanMessageFormat CanMessageFormat;
+
+/**
+ * @class can_message_t
+ *
+ * @brief A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ */
+
+/*************************
+ * old CanMessage struct *
+ *************************
+struct CanMessage {
+ uint32_t id;
+ CanMessageFormat format;
+ uint8_t data[CAN_MESSAGE_SIZE];
+ uint8_t length;
+};
+typedef struct CanMessage CanMessage;
+*/
+class can_message_t {
+ private:
+ uint32_t id_; /*!< uint32_t id - The ID of the message. */
+ uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */
+ CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
+ uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+
+ public:
+ /**
+ * @brief Class constructor
+ *
+ * Constructor about can_message_t class.
+ */
+ can_message_t();
+
+ /**
+ * @brief Retrieve id_ member value.
+ *
+ * @return uint32_t id_ class member
+ */
+ uint32_t get_id() const;
+
+ /**
+ * @brief Retrieve format_ member value.
+ *
+ * @return CanMessageFormat format_ class member
+ */
+ int get_format() const;
+
+ /**
+ * @brief Retrieve data_ member value.
+ *
+ * @return uint8_t data_ pointer class member
+ */
+ const uint8_t* get_data() const;
+
+ /**
+ * @brief Retrieve length_ member value.
+ *
+ * @return uint8_t length_ class member
+ */
+ uint8_t get_length() const;
+
+ /**
+ * @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 is_correct_to_send();
+
+ /**
+ * @brief Set id_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param uint32_t id_ class member
+ */
+ void set_id(const uint32_t new_id);
+
+ /**
+ * @brief Set format_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param CanMessageFormat format_ class member
+ */
+ void set_format(const CanMessageFormat format);
+
+ /**
+ * @brief Set data_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param uint8_t data_ array with a max size of 8 elements.
+ */
+ void set_data(const uint8_t new_data);
+
+ /**
+ * @brief Set length_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param uint8_t length_ array with a max size of 8 elements.
+ */
+ void set_length(const uint8_t new_length);
+
+ /**
+ * @brief Take a canfd_frame struct to initialize class members
+ *
+ * This is the preferred way to initialize class members.
+ *
+ * @param canfd_frame struct read from can bus device.
+ */
+ void convert_from_canfd_frame(const canfd_frame& frame);
+
+ /**
+ * @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.
+ */
+ canfd_frame convert_to_canfd_frame();
+};
+
+/**
+ * @struct CanMessageDefinition
+ *
+ * @brief The definition of a CAN message. This includes a lot of metadata, so
+ * to save memory this struct should not be used for storing incoming and
+ * outgoing CAN messages.
+ */
+struct CanMessageDefinition {
+ //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */
+ uint32_t id; /*!< id - The ID of the message.*/
+ CanMessageFormat format; /*!< format - the format of the message's ID.*/
+ FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this
+ * message, if sent raw, or simply to mark the max frequency for custom
+ * handlers to retriec++ if ? syntaxve.*/
+ bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN
+ * message if it has changed when using raw passthrough.*/
+ uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined.
+ * This is required for the forceSendChanged functionality, as the stack
+ * needs to compare an incoming CAN message with the previous frame.*/
+};
+typedef struct CanMessageDefinition CanMessageDefinition;
+
+/**
+ * @struct CanMessageSet
+ *
+ * @brief A parent wrapper for a particular set of CAN messages and associated
+ * CAN buses(e.g. a vehicle or program).
+ */
+ typedef struct {
+ uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
+ * for fast lookup*/
+ const std::string name; /*!< name - The name of the message set.*/
+ uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/
+ unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for
+ * this message set.*/
+ unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for
+ * this message set.*/
+ unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/
+} CanMessageSet; \ No newline at end of file