diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-message.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.cpp | 389 |
1 files changed, 0 insertions, 389 deletions
diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp deleted file mode 100644 index 057bc71f..00000000 --- a/CAN-binder/low-can-binding/can/can-message.cpp +++ /dev/null @@ -1,389 +0,0 @@ -/* - * 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. - */ - -#include "can-message.hpp" - -#include <cstring> - -#include "../binding/low-can-hat.hpp" - -/// -/// @brief Class constructor -/// -/// Constructor about can_message_t class. -/// -can_message_t::can_message_t() - : maxdlen_{0}, - id_{0}, - length_{0}, - format_{can_message_format_t::INVALID}, - rtr_flag_{false}, - flags_{0}, - timestamp_{0}, - sub_id_{-1} -{} - -can_message_t::can_message_t(uint8_t maxdlen, - uint32_t id, - uint8_t length, - can_message_format_t format, - bool rtr_flag, - uint8_t flags, - std::vector<uint8_t>& data, - uint64_t timestamp) - : maxdlen_{maxdlen}, - id_{id}, - length_{length}, - format_{format}, - rtr_flag_{rtr_flag}, - flags_{flags}, - data_{data}, - timestamp_{timestamp}, - sub_id_{-1} -{} - -/// -/// @brief Retrieve id_ member value. -/// -/// @return id_ class member -/// -uint32_t can_message_t::get_id() const -{ - return id_; -} - -int can_message_t::get_sub_id() const -{ - return sub_id_; -} - -/// -/// @brief Retrieve RTR flag member. -/// -/// @return rtr_flags_ class member -/// -bool can_message_t::get_rtr_flag_() const -{ - return rtr_flag_; -} - -/// -/// @brief Retrieve format_ member value. -/// -/// @return format_ class member. Default to INVALID. -/// -can_message_format_t can_message_t::get_format() const -{ - if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED) - return can_message_format_t::INVALID; - return format_; -} - -/// -/// @brief Retrieve flags_ member value. -/// -/// @return flags_ class member -/// -uint8_t can_message_t::get_flags() const -{ - return flags_; -} - -/// -/// @brief Retrieve data_ member value. -/// -/// @return pointer to the first element -/// of class member data_ -/// -const uint8_t* can_message_t::get_data() const -{ - return data_.data(); -} - -/// -/// @brief Retrieve data_ member whole vector -/// -/// @return the vector as is -/// -const std::vector<uint8_t> can_message_t::get_data_vector() const -{ - return data_; -} - -/// -/// @brief Retrieve length_ member value. -/// -/// @return length_ class member -/// -uint8_t can_message_t::get_length() const -{ - return length_; -} - -void can_message_t::set_sub_id(int sub_id) -{ - sub_id_ = sub_id; -} - -uint64_t can_message_t::get_timestamp() const -{ - return timestamp_; -} - -void can_message_t::set_timestamp(uint64_t timestamp) -{ - timestamp_ = timestamp; -} - -/// @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 can_message_t::is_correct_to_send() -{ - if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID) - { - int i; - for(i=0;i<CAN_MESSAGE_SIZE;i++) - if(data_[i] != 0) - return true; - } - return false; -} - -/// @brief Set format_ member value. -/// -/// Preferred way to initialize these members by using -/// convert_from_canfd_frame method. -/// -/// @param[in] new_format - class member -void can_message_t::set_format(const can_message_format_t new_format) -{ - if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID) - format_ = new_format; - else - ERROR("Can set format, wrong format chosen"); -} - -/// @brief Take a canfd_frame struct to initialize class members -/// -/// This is the preferred way to initialize class members. -/// -/// @param[in] frame - canfd_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 canfd_frame values. -can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) -{ - uint8_t maxdlen, length, flags = (uint8_t)NULL; - uint32_t id; - can_message_format_t format; - bool rtr_flag; - std::vector<uint8_t> data; - - switch(nbytes) - { - case CANFD_MTU: - DEBUG("Got an CAN FD frame"); - maxdlen = CANFD_MAX_DLEN; - break; - case CAN_MTU: - DEBUG("Got a legacy CAN frame"); - maxdlen = CAN_MAX_DLEN; - break; - default: - ERROR("unsupported CAN frame"); - break; - } - - 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.len && frame.len <= CAN_MAX_DLC) - { - if(rtr_flag) - length = frame.len& 0xF; - else - { - length = (frame.len > maxdlen) ? maxdlen : frame.len; - } - } - } - else - { - length = (frame.len > maxdlen) ? maxdlen : frame.len; - - /* Flags field only present for CAN FD frames*/ - if(maxdlen == CANFD_MAX_DLEN) - flags = frame.flags & 0xF; - - 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]); - }; - - 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 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, length, flags = (uint8_t)NULL; - uint32_t id; - can_message_format_t format; - bool rtr_flag; - std::vector<uint8_t> data; - - if(nbytes <= CAN_MTU) - { - DEBUG("Got a legacy CAN frame"); - maxdlen = CAN_MAX_DLEN; - } - else - { - 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]); - }; - -// 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'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. -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 - ERROR("can_message_t not correctly initialized to be sent"); - - return frame; -} - -/// @brief Take all initialized class's members and build an -/// 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 - ERROR("can_message_t not correctly initialized to be sent"); - - return frame; -} |