diff options
| -rw-r--r-- | low-can-binding/binding/application-generated.cpp | 48 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 63 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-socket.cpp | 75 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-socket.hpp | 10 | ||||
| -rw-r--r-- | low-can-binding/can/can-encoder.cpp | 11 | ||||
| -rw-r--r-- | low-can-binding/can/can-encoder.hpp | 2 | ||||
| -rw-r--r-- | low-can-binding/can/can-message-definition.cpp | 7 | ||||
| -rw-r--r-- | low-can-binding/can/can-message-definition.hpp | 10 | ||||
| -rw-r--r-- | low-can-binding/can/can-message.cpp | 121 | ||||
| -rw-r--r-- | low-can-binding/can/can-message.hpp | 4 | ||||
| -rw-r--r-- | low-can-binding/diagnostic/diagnostic-manager.cpp | 19 | ||||
| -rw-r--r-- | low-can-binding/utils/socketcan-bcm.cpp | 25 | ||||
| -rw-r--r-- | low-can-binding/utils/socketcan-bcm.hpp | 25 |
13 files changed, 187 insertions, 233 deletions
diff --git a/low-can-binding/binding/application-generated.cpp b/low-can-binding/binding/application-generated.cpp index 5a67d86e..1b0a3506 100644 --- a/low-can-binding/binding/application-generated.cpp +++ b/low-can-binding/binding/application-generated.cpp @@ -7,7 +7,13 @@ application_t::application_t() , can_message_set_{ {std::make_shared<can_message_set_t>(can_message_set_t{0,"AGL Virtual Car", { // beginning can_message_definition_ vector - {std::make_shared<can_message_definition_t>(can_message_definition_t{"ls",0x30,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, + {std::make_shared<can_message_definition_t>(can_message_definition_t{ + "ls", + 0x30, + false, + can_message_format_t::EXTENDED, + frequency_clock_t(5.00000f), + true, { // beginning can_signals vector {std::make_shared<can_signal_t> (can_signal_t{ "hvac.fan.speed", @@ -83,7 +89,13 @@ application_t::application_t() })} } // end can_signals vector })} // end can_message_definition entry -, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3D9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, +, {std::make_shared<can_message_definition_t>(can_message_definition_t{ + "hs", + 0x3D9, + true, + can_message_format_t::STANDARD, + frequency_clock_t(5.00000f), + true, { // beginning can_signals vector {std::make_shared<can_signal_t> (can_signal_t{ "engine.speed", @@ -141,7 +153,13 @@ application_t::application_t() })} } // end can_signals vector })} // end can_message_definition entry -, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3E9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, +, {std::make_shared<can_message_definition_t>(can_message_definition_t{ + "hs", + 0x3E9, + false, + can_message_format_t::EXTENDED, + frequency_clock_t(5.00000f), + true, { // beginning can_signals vector {std::make_shared<can_signal_t> (can_signal_t{ "vehicle.average.speed", @@ -163,7 +181,13 @@ application_t::application_t() })} } // end can_signals vector })} // end can_message_definition entry -, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x4D1,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, +, {std::make_shared<can_message_definition_t>(can_message_definition_t{ + "hs", + 0x4D1, + false, + can_message_format_t::STANDARD, + frequency_clock_t(5.00000f), + true, { // beginning can_signals vector {std::make_shared<can_signal_t> (can_signal_t{ "engine.oil.temp", @@ -203,7 +227,13 @@ application_t::application_t() })} } // end can_signals vector })} // end can_message_definition entry -, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x620,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, +, {std::make_shared<can_message_definition_t>(can_message_definition_t{ + "hs", + 0x620, + false, + can_message_format_t::STANDARD, + frequency_clock_t(5.00000f), + true, { // beginning can_signals vector {std::make_shared<can_signal_t> (can_signal_t{ "doors.boot.open", @@ -297,7 +327,13 @@ application_t::application_t() })} } // end can_signals vector })} // end can_message_definition entry -, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x799,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, +, {std::make_shared<can_message_definition_t>(can_message_definition_t{ + "hs", + 0x799, + false, + can_message_format_t::STANDARD, + frequency_clock_t(5.00000f), + true, { // beginning can_signals vector {std::make_shared<can_signal_t> (can_signal_t{ "windows.front_left.open", diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index 3cb61c6c..098f0715 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -407,7 +407,7 @@ void unsubscribe(afb_req_t request) do_subscribe_unsubscribe(request, false); } -static int send_frame(const std::string& bus_name, const struct can_frame& cf) +static int send_frame(struct canfd_frame& cfd, const std::string& bus_name) { if(bus_name.empty()) { return -1; @@ -418,57 +418,54 @@ static int send_frame(const std::string& bus_name, const struct can_frame& cf) if( cd.count(bus_name) == 0) {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());} - return cd[bus_name]->tx_send(cf, bus_name); + return cd[bus_name]->tx_send(cfd, bus_name); } static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value) { - struct can_frame cf; - struct json_object *json_can_data = nullptr; + struct canfd_frame cfd; + struct json_object *can_data = nullptr; - ::memset(&cf, 0, sizeof(cf)); + ::memset(&cfd, 0, sizeof(cfd)); - if(! wrap_json_unpack(json_value, "{sF, sF, so !}", - "can_id", &cf.can_id, - "can_dlc", &cf.can_dlc, - "can_data", &json_can_data)) + if(wrap_json_unpack(json_value, "{si, si, so !}", + "can_id", &cfd.can_id, + "can_dlc", &cfd.len, + "can_data", &can_data)) { - struct json_object *one_can_data; - size_t n = json_object_array_length(json_can_data); + afb_req_fail(request, "Invalid", "Frame object malformed"); + return; + } - if(n <= 8 && n > 0) - { - for (int i = 0 ; i < n ; i++) - { - one_can_data = json_object_array_get_idx(json_can_data, i); - cf.data[i] = json_object_get_type(one_can_data) == json_type_int ? (uint8_t)json_object_get_int(one_can_data) : 0; - } - } - else + if(cfd.len <= 8 && cfd.len > 0) + { + for (int i = 0 ; i < cfd.len ; i++) { - afb_req_fail(request, "Error", "Data array must hold 1 to 8 values."); - return; + struct json_object *one_can_data = json_object_array_get_idx(can_data, i); + cfd.data[i] = (json_object_is_type(one_can_data, json_type_int)) ? + (uint8_t)json_object_get_int(one_can_data) : 0; } - - if(! send_frame(application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), cf)) - afb_req_success(request, nullptr, "Message correctly sent"); - else - afb_req_fail(request, "Error", "sending the message. See the log for more details."); - + } + else + { + afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values."); return; } - afb_req_fail(request, "Error", "Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}"); + if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name))) + afb_req_success(request, nullptr, "Message correctly sent"); + else + afb_req_fail(request, "Error", "sending the message. See the log for more details."); } static void write_signal(afb_req_t request, const std::string& name, json_object *json_value) { - struct can_frame cf; + struct canfd_frame cfd; struct utils::signals_found sf; signal_encoder encoder = nullptr; bool send = true; - ::memset(&cf, 0, sizeof(cf)); + ::memset(&cfd, 0, sizeof(cfd)); openxc_DynamicField search_key = build_DynamicField(name); sf = utils::signals_manager_t::instance().find_signals(search_key); @@ -491,8 +488,8 @@ static void write_signal(afb_req_t request, const std::string& name, json_object encoder(*sig, dynafield_value, &send) : encoder_t::encode_DynamicField(*sig, dynafield_value, &send); - if(! send_frame(sig->get_message()->get_bus_device_name(), encoder_t::build_frame(sig, value)) && - send) + cfd = encoder_t::build_frame(sig, value); + if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send) afb_req_success(request, nullptr, "Message correctly sent"); else afb_req_fail(request, "Error", "Sending the message. See the log for more details."); diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp index db9b164b..cd827b6b 100644 --- a/low-can-binding/binding/low-can-socket.cpp +++ b/low-can-binding/binding/low-can-socket.cpp @@ -185,11 +185,11 @@ int low_can_socket_t::open_socket(const std::string& bus_name) /// @brief Builds a BCM message head but doesn't set can_frame. /// -/// @returns a simple_bcm_msg with the msg_head parts set and can_frame +/// @returns a bcm_msg with the msg_head parts set and can_frame /// zeroed. -struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const +struct utils::bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const { - struct utils::simple_bcm_msg bcm_msg; + struct utils::bcm_msg bcm_msg; ::memset(&bcm_msg, 0, sizeof(bcm_msg)); bcm_msg.msg_head.opcode = opcode; @@ -203,13 +203,23 @@ struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, ui return bcm_msg; } -/// @brief Take an existing simple_bcm_msg struct and add a can_frame. +/// @brief Take an existing bcm_msg struct and add a can_frame. /// Currently only 1 uniq can_frame can be added, it's not possible to build /// a multiplexed message with several can_frame. -void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const +void low_can_socket_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const { + struct can_frame cf; + + if (bcm_msg.msg_head.flags & CAN_FD_FRAME) + bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd; + else + { + cf.can_id = cfd.can_id; + cf.can_dlc = cfd.len; + ::memcpy(&cf.data, cfd.data, cfd.len); + bcm_msg.frames[bcm_msg.msg_head.nframes] = cf; + } bcm_msg.msg_head.nframes++; - bcm_msg.frames = cf; } /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal @@ -218,26 +228,37 @@ void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::s /// @return 0 if ok else -1 int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig) { + uint32_t flags; + float val; + struct timeval freq, timeout = {0, 0}; + struct canfd_frame cfd; can_signal_= sig; - struct can_frame cfd; - memset(&cfd, 0, sizeof(cfd)); - - float val = (float)(1 << can_signal_->get_bit_size()) - 1; - bitfield_encode_float(val, - can_signal_->get_bit_position(), - can_signal_->get_bit_size(), - can_signal_->get_factor(), - can_signal_->get_offset(), - cfd.data, - CAN_MAX_DLEN); + if (sig->get_message()->is_fd()) + { + flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; + cfd.len = CANFD_MAX_DLEN; + } + else + { + flags = SETTIMER|RX_NO_AUTOTIMER; + cfd.len = CAN_MAX_DLEN; + } + val = (float)(1 << can_signal_->get_bit_size()) - 1; + if(! bitfield_encode_float(val, + can_signal_->get_bit_position(), + can_signal_->get_bit_size(), + 1, + can_signal_->get_offset(), + cfd.data, + cfd.len)) + return -1; - struct timeval freq, timeout = {0, 0}; frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency); freq = f.get_timeval_from_period(); - utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq); - add_bcm_frame(cfd, bcm_msg); + utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), flags, timeout, freq); + add_one_bcm_frame(cfd, bcm_msg); return create_rx_filter(bcm_msg); } @@ -254,19 +275,19 @@ int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period(); struct timeval timeout = {0,0}; - utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq); + utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq); return create_rx_filter(bcm_msg); } /// @brief Create a RX_SETUP receive job used by the BCM socket directly from -/// a simple_bcm_msg. The method should not be used directly but rather through the +/// a bcm_msg. The method should not be used directly but rather through the /// two previous method with can_signal_t or diagnostic_message_t object. /// /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed /// to the 8 classics OBD2 functional response ID /// /// @return 0 if ok else -1 -int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) +int low_can_socket_t::create_rx_filter(utils::bcm_msg& bcm_msg) { // Make sure that socket is opened. if(open_socket() < 0) @@ -299,12 +320,10 @@ int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) /// send a message /// /// @return 0 if ok else -1 -int low_can_socket_t::tx_send(const struct can_frame& cf, const std::string& bus_name) +int low_can_socket_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name) { - can_signal_ = nullptr; - - utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND); - add_bcm_frame(cf, bcm_msg); + utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id); + add_one_bcm_frame(cfd, bcm_msg); if(open_socket(bus_name) < 0) {return -1;} diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp index 48ed47f9..d46f1f8c 100644 --- a/low-can-binding/binding/low-can-socket.hpp +++ b/low-can-binding/binding/low-can-socket.hpp @@ -25,6 +25,8 @@ #include "../diagnostic/diagnostic-message.hpp" #include "../utils/socketcan-bcm.hpp" +#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8 + /// @brief Filtering values. Theses values have to be tested in /// can_bus_t::apply_filter method. struct event_filter_t @@ -81,14 +83,14 @@ public: void set_min(float min); void set_max(float max); - struct utils::simple_bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const; - void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const; + struct utils::bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const; + void add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const; int open_socket(const std::string& bus_name = ""); int create_rx_filter(std::shared_ptr<can_signal_t> sig); int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig); - int create_rx_filter(utils::simple_bcm_msg& bcm_msg); + int create_rx_filter(utils::bcm_msg& bcm_msg); - int tx_send(const struct can_frame& cf, const std::string& bus_name); + int tx_send(struct canfd_frame& cfd, const std::string& bus_name); }; 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(); }; diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp index bc335dfc..8932f250 100644 --- a/low-can-binding/diagnostic/diagnostic-manager.cpp +++ b/low-can-binding/diagnostic/diagnostic-manager.cpp @@ -102,27 +102,26 @@ bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8 // Make sure that socket has been opened. if(! tx_socket) - tx_socket.open( - dm.get_bus_device_name()); + tx_socket.open(dm.get_bus_device_name()); - struct utils::simple_bcm_msg bcm_msg; - struct can_frame cfd; - - memset(&cfd, 0, sizeof(cfd)); - memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + struct utils::bcm_msg bcm_msg; + struct can_frame cf; struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period(); bcm_msg.msg_head.opcode = TX_SETUP; bcm_msg.msg_head.can_id = arbitration_id; bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID; + bcm_msg.msg_head.count = 0; bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec; bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; bcm_msg.msg_head.nframes = 1; - cfd.can_dlc = size; - ::memcpy(cfd.data, data, size); + cf.can_dlc = size; + + ::memset(cf.data, 0, sizeof(cf.data)); + ::memcpy(cf.data, data, size); - bcm_msg.frames = cfd; + bcm_msg.frames[0] = cf; tx_socket << bcm_msg; if(tx_socket) diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp index 750e772d..d1fd8e0a 100644 --- a/low-can-binding/utils/socketcan-bcm.cpp +++ b/low-can-binding/utils/socketcan-bcm.cpp @@ -72,7 +72,7 @@ namespace utils /// then CAN message will be zeroed and must be handled later. socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm) { - struct utils::simple_bcm_msg msg; + struct utils::bcm_msg msg; ::memset(&msg, 0, sizeof(msg)); const struct sockaddr_can& addr = s.get_tx_address(); @@ -85,17 +85,30 @@ namespace utils long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head); AFB_DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes); - AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc, - msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]); struct timeval tv; ioctl(s.socket(), SIOCGSTAMP, &tv); uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec; - cm = ::can_message_t::convert_from_frame(msg.frames , - frame_size, - timestamp); + cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp); cm.set_sub_id((int)s.socket()); return s; } + + socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct utils::bcm_msg>& vobj) + { + for(const auto& obj : vobj) + s << obj; + return s; + } + + socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct utils::bcm_msg& obj) + { + size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ? + (size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj): + (size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj); + if (::sendto(s.socket(), &obj, size, 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0) + AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno)); + return s; + } } diff --git a/low-can-binding/utils/socketcan-bcm.hpp b/low-can-binding/utils/socketcan-bcm.hpp index 22927cb6..478a5292 100644 --- a/low-can-binding/utils/socketcan-bcm.hpp +++ b/low-can-binding/utils/socketcan-bcm.hpp @@ -20,24 +20,20 @@ #include "socketcan.hpp" #include "../can/can-message.hpp" +#define MAX_BCM_CAN_FRAMES 257 + namespace utils { - struct simple_bcm_msg - { - struct bcm_msg_head msg_head; - struct can_frame frames; - }; - -#ifdef KERNEL_MINIMAL_VERSION_OK - struct canfd_bcm_msg + struct bcm_msg { struct bcm_msg_head msg_head; - struct canfd_frame frames; - canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; } + union { + struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES]; + struct can_frame frames[MAX_BCM_CAN_FRAMES]; + }; }; -#endif - /// @brief derivated socketcan class specialized for BCM CAN socket. + /// @brief derivated socketcan class specialized for BCM CAN socket.make_bcm_head class socketcan_bcm_t : public socketcan_t { public: @@ -50,6 +46,7 @@ namespace utils }; socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm); -// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj); -// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj); + + socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct bcm_msg>& obj); + socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct bcm_msg& obj); } |