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-rw-r--r--low-can-binding/can/message/can-message.cpp194
1 files changed, 194 insertions, 0 deletions
diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp
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+/*
+ * 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
+///
+/// can_message_t class constructor.
+///
+can_message_t::can_message_t()
+ : message_t(),
+ maxdlen_{0},
+ id_{0},
+ rtr_flag_{false},
+ flags_{0}
+{}
+
+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)
+ : message_t(length, format, data, timestamp),
+ maxdlen_{maxdlen},
+ id_{id},
+ rtr_flag_{rtr_flag},
+ flags_{flags}
+{}
+
+///
+/// @brief Retrieve id_ member value.
+///
+/// @return id_ class member
+///
+uint32_t can_message_t::get_id() const
+{
+ return id_;
+}
+
+
+/// @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 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.
+std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_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;
+
+ switch(nbytes)
+ {
+ case CANFD_MTU:
+ AFB_DEBUG("Got an CAN FD frame");
+ maxdlen = CANFD_MAX_DLEN;
+ break;
+ case CAN_MTU:
+ AFB_DEBUG("Got a legacy CAN frame");
+ maxdlen = CAN_MAX_DLEN;
+ break;
+ default:
+ AFB_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]);
+ };
+
+ 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 std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp));
+}
+
+
+bool can_message_t::is_set()
+{
+ return (id_ != 0 && length_ != 0);
+}
+
+std::string can_message_t::get_debug_message()
+{
+ std::string ret = "";
+ ret = ret + "Here is the next can message : id " + std::to_string(id_) + " length " + std::to_string(length_) + ", data ";
+ for (size_t i = 0; i < data_.size(); i++)
+ {
+ ret = ret + std::to_string(data_[i]);
+ }
+
+ return ret;
+}
+
+struct bcm_msg can_message_t::get_bcm_msg()
+{
+ return bcm_msg_;
+}
+
+void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
+{
+ bcm_msg_ = bcm_msg;
+}
+