Beginning of work on obd2 object and

files reorganization.

Change-Id: Idaa7ad05c45d734ce771506fd6e41f1a09a6ac66
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 151 insertions, 0 deletions

diff --git a/src/can/can-message.hpp b/src/can/can-message.hpp
new file mode 100644
index 00000000..9f6a36da
--- /dev/null
+++ b/src/can/can-message.hpp
@@ -0,0 +1,151 @@
+/*
+ * 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 <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. */
+		bool rtr_flag_; /*!< bool rtr_flag - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
+		uint8_t length_; /*!<  uint8_t length - the length of the data array (max 8). */
+		uint8_t flags_; /*!< unint8_t flags of a CAN FD frame. Needed if we catch FD frames.*/
+		CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
+		std::vector<uint8_t> data_; /*!< uint8_t data  - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+
+		uint8_t maxdlen_;
+
+	public:
+		can_message_t();
+
+		uint32_t get_id() const;
+		bool get_rtr_flag_() const;
+		int get_format() const;
+		uint8_t get_flags() const;
+		const uint8_t* get_data() const;
+		uint8_t get_length() const;
+
+		void set_max_data_length(size_t nbytes);
+		void set_id_and_format(const uint32_t new_id);
+		void set_format(const CanMessageFormat new_format);
+		void set_format(const uint32_t can_id);
+		void set_flags(const uint8_t flags);
+		void set_data(const __u8* new_data);
+		void set_length(const uint8_t new_length);
+
+		bool is_correct_to_send();
+
+		void convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args);
+		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;
+
+/** Public: Return the currently active CAN configuration. */
+CanMessageSet* getActiveMessageSet();
+
+/** Public: Retrive a list of all possible CAN configurations.
+ *
+ * Returns a pointer to an array of all configurations.
+ */
+CanMessageSet* getMessageSets();
+
+/** Public: Return the length of the array returned by getMessageSets() */
+int getMessageSetCount();
+
+/* Public: Return an array of all CAN messages to be processed in the active
+ * configuration.
+ */
+CanMessageDefinition* getMessages();
+
+/* Public: Return the length of the array returned by getMessages(). */
+int getMessageCount();
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