diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 22 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 2 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-definition.hpp | 28 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-set.cpp | 1 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-set.hpp | 4 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.cpp | 24 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.hpp | 34 |
7 files changed, 66 insertions, 49 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index d06eb77c..e481a1bd 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -40,6 +40,14 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) : conf_file_{conf_file} {} +/// @brief Take a decoded message to determine if its value comply with the wanted +/// filtering values. +/// +/// @param[in] vehicle_message - A decoded message to analyze +/// @param[in] can_subscription - the subscription which will be notified depending +/// on its filtering values. Filtering values are stored in the event_filtermember. +/// +/// @return True if the value is compliant with event filter values, false if not... bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription) { bool send = false; @@ -283,12 +291,8 @@ void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_Vehic vehicle_message_q_.push(std::make_pair(subscription_id, v_msg)); } -/// @brief Return the shared pointer on the can_bus_dev_t initialized -/// with device_name "bus" -/// -/// @param[in] bus - CAN bus device name to retrieve. -/// -/// @return A shared pointer on an object can_bus_dev_t +/// @brief Fills the CAN device map member with value from device +/// mapping configuration file read at initialization. void can_bus_t::set_can_devices() { can_devices_ = conf_file_.get_devices_name(); @@ -300,6 +304,9 @@ void can_bus_t::set_can_devices() } } + +/// @brief Return the CAN device index from the map +/// map are sorted so index depend upon alphabetical sorting. int can_bus_t::get_can_device_index(const std::string& bus_name) const { int i = 0; @@ -312,6 +319,9 @@ int can_bus_t::get_can_device_index(const std::string& bus_name) const return i; } +/// @brief Return CAN device name from a logical CAN device name gotten from +/// the signals.json description file which comes from a CAN databases file in +/// general. const std::string can_bus_t::get_can_device_name(const std::string& id_name) const { std::string ret; diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp index b19519a8..a76d3e87 100644 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ b/CAN-binder/low-can-binding/can/can-bus.hpp @@ -72,7 +72,7 @@ private: std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue. std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed - std::vector<std::pair<std::string, std::string> > can_devices_; + std::vector<std::pair<std::string, std::string> > can_devices_; ///< can_devices_ - holds a mapping between logical CAN devices names and linux CAN devices names. public: explicit can_bus_t(utils::config_parser_t conf_file); can_bus_t(can_bus_t&&); diff --git a/CAN-binder/low-can-binding/can/can-message-definition.hpp b/CAN-binder/low-can-binding/can/can-message-definition.hpp index 3e150369..6d0f17d6 100644 --- a/CAN-binder/low-can-binding/can/can-message-definition.hpp +++ b/CAN-binder/low-can-binding/can/can-message-definition.hpp @@ -35,22 +35,24 @@ class can_message_set_t; +/// @brief The definition of a CAN message. This includes a lot of metadata, so +/// to save memory this class gets the can_signal_t object related to a CAN message. class can_message_definition_t { 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.*/ - 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 - * handlers to retrieve.*/ - bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN - * message if it has changed when using raw passthrough.*/ - std::vector<uint8_t> last_value_; /*!< last_value_ - 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.*/ - std::vector<std::shared_ptr<can_signal_t> > can_signals_; /*!< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */ + 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.*/ + 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 + /// handlers to retrieve.*/ + bool force_send_changed_; ///< force_send_changed_ - If true, regardless of the frequency, it will send CAN + /// message if it has changed when using raw passthrough.*/ + std::vector<uint8_t> last_value_; ///< last_value_ - 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.*/ + std::vector<std::shared_ptr<can_signal_t> > can_signals_; ///< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */ public: //can_message_definition_t(const can_message_definition_t& b); diff --git a/CAN-binder/low-can-binding/can/can-message-set.cpp b/CAN-binder/low-can-binding/can/can-message-set.cpp index a41f0085..c31dec62 100644 --- a/CAN-binder/low-can-binding/can/can-message-set.cpp +++ b/CAN-binder/low-can-binding/can/can-message-set.cpp @@ -52,6 +52,7 @@ std::vector<std::shared_ptr<can_signal_t> > can_message_set_t::get_all_can_signa return can_signals; } +/// @brief Return vector holding all diagnostic messages definitions handled by this message set. std::vector<std::shared_ptr<diagnostic_message_t> >& can_message_set_t::get_diagnostic_messages() { return diagnostic_messages_; diff --git a/CAN-binder/low-can-binding/can/can-message-set.hpp b/CAN-binder/low-can-binding/can/can-message-set.hpp index c763de6d..2a7cb53c 100644 --- a/CAN-binder/low-can-binding/can/can-message-set.hpp +++ b/CAN-binder/low-can-binding/can/can-message-set.hpp @@ -27,8 +27,8 @@ class can_signal_t; class can_message_definition_t; class diagnostic_message_t; -/// @brief A parent wrapper for a particular set of CAN messages and associated -/// CAN buses(e.g. a vehicle or program). +/// @brief A parent wrapper for a particular set of CAN messages and diagnostic messages +/// (e.g. a vehicle or program). class can_message_set_t { private: diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp index 93894947..10b3232c 100644 --- a/CAN-binder/low-can-binding/can/can-message.cpp +++ b/CAN-binder/low-can-binding/can/can-message.cpp @@ -84,7 +84,7 @@ bool can_message_t::get_rtr_flag_() const /// /// @brief Retrieve format_ member value. /// -/// @return format_ class member +/// @return format_ class member. Default to INVALID. /// can_message_format_t can_message_t::get_format() const { @@ -149,12 +149,10 @@ 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. -/// +/// @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) @@ -167,14 +165,12 @@ bool can_message_t::is_correct_to_send() 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) @@ -191,7 +187,6 @@ void can_message_t::set_format(const can_message_format_t new_format) /// @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; @@ -272,6 +267,14 @@ 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, length, flags = (uint8_t)NULL; @@ -343,13 +346,11 @@ can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, s 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; @@ -366,6 +367,11 @@ struct canfd_frame can_message_t::convert_to_canfd_frame() 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; diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp index ced2602a..b206ebdb 100644 --- a/CAN-binder/low-can-binding/can/can-message.hpp +++ b/CAN-binder/low-can-binding/can/can-message.hpp @@ -31,28 +31,26 @@ * @brief The ID format for a CAN message. */ enum class can_message_format_t { - STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */ - EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ - INVALID, /*!< INVALID - INVALID code used at initialization to signify that it isn't usable'*/ + STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */ + EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ + INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/ }; -/** - * @class can_message_t - * - * @brief A compact representation of a single CAN message, meant to be used in in/out - * buffers. - */ +/// @class can_message_t +/// +/// @brief A compact representation of a single CAN message, meant to be used in in/out +/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes. class can_message_t { private: - uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/ - uint32_t id_; /*!< id_ - The ID of the message. */ - uint8_t length_; /*!< length_ - the length of the data array (max 8). */ - can_message_format_t format_; /*!< format_ - the format of the message's ID.*/ - bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ - uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ - std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ - uint64_t timestamp_; /*!< timestamp_ - timestamp of the received message*/ - int sub_id_; /*!< sub_id_ - Subscription index. */ + uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/ + uint32_t id_; ///< id_ - The ID of the message. */ + uint8_t length_; ///< length_ - the length of the data array (max 8). */ + can_message_format_t format_; ///< format_ - the format of the message's ID.*/ + bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ + uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ + std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ + uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/ + int sub_id_; ///< sub_id_ - Subscription index. */ public: can_message_t(); |