Fix: improve can_message read

Change-Id: If0c52c6df3f68e9b79fb851d64a729946cac6ef6
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

4 files changed, 143 insertions, 51 deletions

diff --git a/src/can-bus.cpp b/src/can-bus.cpp
index 672e95e5..989dfa20 100644
--- a/src/can-bus.cpp
+++ b/src/can-bus.cpp
@@ -279,7 +279,7 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 	has_vehicle_message_ = true;
 }
 
-std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices();
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
 {
 	return can_devices_m_;
 }
@@ -372,24 +372,13 @@ canfd_frame can_bus_dev_t::read()
 
 	nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
 
-	switch(nbytes)
-	{
-		case CANFD_MTU:
-			DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
-			//maxdlen = CANFD_MAX_DLEN;
-			break;
-		case CAN_MTU:
-			DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
-			//maxdlen = CAN_MAX_DLEN;
-			break;
-		default:
-			if (errno == ENETDOWN)
-					ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
-			ERROR(binder_interface, "read_can: Error reading CAN bus");
-			::memset(&canfd_frame, 0, sizeof(canfd_frame));
-			is_running_ = false;
-			break;
-	}
+	/* if we did not fit into CAN sized messages then stop_reading. */
+	if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
+		if (errno == ENETDOWN)
+			ERROR(binder_interface, "read: %s CAN device down", device_name_);
+		ERROR(binder_interface, "read: Error reading CAN bus");
+		::memset(&canfd_frame, 0, sizeof(canfd_frame));
+		stop_reading();
 
 	return canfd_frame;
 }
diff --git a/src/can-bus.hpp b/src/can-bus.hpp
index 8d40ff0d..991bf62c 100644
--- a/src/can-bus.hpp
+++ b/src/can-bus.hpp
@@ -189,7 +189,7 @@ class can_bus_t {
 		 *
 		 * @return map can_bus_dev_m_ map
 		 */
-		std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_bus_devices();
+		std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
 };
 
 
diff --git a/src/can-message.cpp b/src/can-message.cpp
index d40dbc43..77fce685 100644
--- a/src/can-message.cpp
+++ b/src/can-message.cpp
@@ -28,7 +28,7 @@
 *********************************************************************************/
 
 can_message_t::can_message_t()
-	: id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
+	: id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}
 {}
 
 uint32_t can_message_t::get_id() const
@@ -36,6 +36,11 @@ uint32_t can_message_t::get_id() const
 	return id_;
 }
 
+bool can_message_t::get_rtr_flag_() const
+{
+	return rtr_flag_;
+}
+
 int can_message_t::get_format() const
 {
 	if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
@@ -43,6 +48,11 @@ int can_message_t::get_format() const
 	return format_;
 }
 
+uint8_t can_message_t::get_flags() const
+{
+	return flags_;
+}
+
 const uint8_t* can_message_t::get_data() const
 {
 	return data_;
@@ -52,6 +62,26 @@ uint8_t can_message_t::get_length() const
 	return length_;
 }
 
+void can_message_t::set_max_data_length(const struct canfd_frame& frame)
+{
+	maxdlen_ = 0;
+
+	switch(sizeof(frame))
+	{
+		case CANFD_MTU:
+			DEBUG(binder_interface, "convert_from_canfd_frame: Got an CAN FD frame with length %d and flags %d", frame.len, frame.flags);
+			maxdlen_ = CANFD_MAX_DLEN;
+			break;
+		case CAN_MTU:
+			DEBUG(binder_interface, "convert_from_canfd_frame: Got a legacy CAN frame with length %d", frame.len);
+			maxdlen_ = CAN_MAX_DLEN;
+			break;
+		default:
+			ERROR(binder_interface, "convert_from_canfd_frame: unsupported CAN frame");
+			break;
+	}
+}
+
 bool can_message_t::is_correct_to_send()
 {
 	if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
@@ -64,8 +94,9 @@ bool can_message_t::is_correct_to_send()
 	return false;
 }
 
-void can_message_t::set_id(const uint32_t new_id)
+void can_message_t::set_id_and_format(const uint32_t new_id)
 {
+	set_format(new_id);
 	switch(format_)
 	{
 		case CanMessageFormat::STANDARD:
@@ -74,6 +105,9 @@ void can_message_t::set_id(const uint32_t new_id)
 		case CanMessageFormat::EXTENDED:
 			id_ = new_id & CAN_EFF_MASK;
 			break;
+		case CanMessageFormat::ERROR:
+			id_ = new_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+			break;
 		default:
 			ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
 			break;
@@ -82,49 +116,77 @@ void can_message_t::set_id(const uint32_t new_id)
 
 void can_message_t::set_format(const CanMessageFormat new_format)
 {
-	if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
+	if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED || new_format == CanMessageFormat::ERROR)
 		format_ = new_format;
 	else
 		ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
 }
 
-void can_message_t::set_data(const uint8_t new_data)
+void can_message_t::set_format(const uint32_t can_id)
 {
-	if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
-		ERROR(binder_interface, "Can set data, your data array is too big");
+	if (can_id & CAN_ERR_FLAG)
+		format_ = CanMessageFormat::ERROR;
+	else if (can_id & CAN_EFF_FLAG)
+		format_ = CanMessageFormat::EXTENDED;
 	else
-	{
-		::memcpy(&data_, &new_data, sizeof(new_data));
-		length_ = sizeof(new_data);
-	}
+		format_ = CanMessageFormat::STANDARD;
 }
 
-void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
+void can_message_t::set_flags(const uint8_t flags)
 {
-	length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
-	length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
+	flags_ = flags & 0xF;
+}
 
-	if (frame.can_id & CAN_ERR_FLAG)
+void can_message_t::set_length(const uint8_t new_length)
+{
+	if(rtr_flag_)
+		length_ = new_length & 0xF;
+	else
 	{
-		id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
-		format_ = CanMessageFormat::ERROR;
+		length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
 	}
-	else if (frame.can_id & CAN_EFF_FLAG)
+}
+
+void can_message_t::set_data(const __u8 new_data[], size_t dlen)
+{
+	if (sizeof(dlen)/sizeof(__u8) > maxdlen_)
+		ERROR(binder_interface, "Can set data, too big ! It is a CAN frame ?");
+	else
 	{
-		id_ = frame.can_id & CAN_EFF_MASK;
-		format_ = CanMessageFormat::EXTENDED;
+		int i;
+		/* Limiting to 8 bytes message for now on 64 bytes from fd frames*/
+		for(i=0;i<CAN_MESSAGE_SIZE;i++)
+		{
+			data_[i] = new_data[i];
+		}
 	}
-	else
+}
+
+void can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame)
+{
+	set_max_data_length(frame);
+	set_length(frame.len);
+	set_id_and_format(frame.can_id);
+
+	/* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+	if (frame.can_id & CAN_RTR_FLAG)
 	{
-		id_ = frame.can_id & CAN_SFF_MASK;
-		format_ = CanMessageFormat::STANDARD;
+		rtr_flag_ = true;
+		if(frame.len && frame.len <= CAN_MAX_DLC)
+			set_length(frame.len);
+		return;
 	}
-	DEBUG(binder_interface, "");
 
-	if (sizeof(frame.data) <= sizeof(data_))
-		::memcpy(&data_, frame.data, length_);
-	else if (sizeof(frame.data) >= CAN_MAX_DLEN)
-		ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
+	/* Flags field only present for CAN FD frames*/
+	if(maxdlen_ == CANFD_MAX_DLEN)
+		set_flags(frame.flags);
+
+	size_t dlen = sizeof(frame.data);
+	memset(data_, 0, dlen);
+	set_data(frame.data, dlen);
+
+	DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %d, format: %d, length: %d, data %d%d%d%d%d%d%d%d", id_, format_, length_,
+							data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
 }
 
 canfd_frame can_message_t::convert_to_canfd_frame()
diff --git a/src/can-message.hpp b/src/can-message.hpp
index 6e51d928..f24c1700 100644
--- a/src/can-message.hpp
+++ b/src/can-message.hpp
@@ -57,10 +57,14 @@ 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.*/
 		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.*/
 
+		uint8_t maxdlen_;
+
 	public:
 		/**
 		 * @brief Class constructor
@@ -77,6 +81,13 @@ class can_message_t {
 		uint32_t get_id() const;
 		
 		/**
+		 * @brief Retrieve RTR flag member.
+		 *
+		 * @return bool rtr_flags_ class member
+		 */
+		bool get_rtr_flag_() const;
+
+		/**
 		 * @brief Retrieve format_ member value.
 		 *
 		 * @return CanMessageFormat format_ class member
@@ -84,6 +95,13 @@ class can_message_t {
 		int get_format() const;
 		
 		/**
+		 * @brief Retrieve format_ member value.
+		 *
+		 * @return CanMessageFormat format_ class member
+		 */
+		uint8_t get_flags() const;
+		
+		/**
 		 * @brief Retrieve data_ member value.
 		 *
 		 * @return uint8_t data_ pointer class member
@@ -96,6 +114,8 @@ class can_message_t {
 		 * @return uint8_t length_ class member
 		 */
 		uint8_t get_length() const;
+		
+		void set_max_data_length(const struct canfd_frame& frame);
 
 		/**
 		 * @brief Control whether the object is correctly initialized
@@ -113,7 +133,7 @@ class can_message_t {
 		 *
 		 * @param uint32_t id_ class member
 		 */
-		void set_id(const uint32_t new_id);
+		void set_id_and_format(const uint32_t new_id);
 		
 		/**
 		 * @brief Set format_ member value.
@@ -123,9 +143,30 @@ class can_message_t {
 		 *
 		 * @param CanMessageFormat format_ class member
 		 */
-		void set_format(const CanMessageFormat format);
+		void set_format(const CanMessageFormat new_format);
 		
 		/**
+		 * @brief Set format_ member value. Deducing from the can_id
+		 *  of a canfd_frame.
+		 *
+		 * Preferred way to initialize these members by using 
+		 * convert_from_canfd_frame method.
+		 *
+		 * @param uint32_t can_id integer from a canfd_frame
+		 */
+		void set_format(const uint32_t can_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_flags(const uint8_t flags);
+
+		/**
 		 * @brief Set data_ member value.
 		 *
 		 * Preferred way to initialize these members by using 
@@ -133,7 +174,7 @@ class can_message_t {
 		 *
 		 * @param uint8_t data_ array with a max size of 8 elements.
 		 */
-		void set_data(const uint8_t new_data);
+		void set_data(const __u8 new_data[], size_t dlen);
 		
 		/**
 		 * @brief Set length_ member value.
@@ -152,7 +193,7 @@ class can_message_t {
 		 *
 		 * @param canfd_frame struct read from can bus device.
 		 */
-		void convert_from_canfd_frame(const canfd_frame& frame);
+		void convert_from_canfd_frame(const struct canfd_frame& frame);
 		
 		/**
 		 * @brief Take all initialized class's members and build an