diff options
Diffstat (limited to 'low-can-binding/can/message')
| -rw-r--r-- | low-can-binding/can/message/can-message.cpp | 194 | ||||
| -rw-r--r-- | low-can-binding/can/message/can-message.hpp | 49 | ||||
| -rw-r--r-- | low-can-binding/can/message/j1939-message.cpp | 163 | ||||
| -rw-r--r-- | low-can-binding/can/message/j1939-message.hpp | 73 | ||||
| -rw-r--r-- | low-can-binding/can/message/message.cpp | 96 | ||||
| -rw-r--r-- | low-can-binding/can/message/message.hpp | 86 |
6 files changed, 661 insertions, 0 deletions
diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp new file mode 100644 index 00000000..91f66252 --- /dev/null +++ b/low-can-binding/can/message/can-message.cpp @@ -0,0 +1,194 @@ +/* + * 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; +} + diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp new file mode 100644 index 00000000..5aa302cc --- /dev/null +++ b/low-can-binding/can/message/can-message.hpp @@ -0,0 +1,49 @@ +/* + * 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. + */ + +#pragma once +#include "./message.hpp" + + + +/// @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 : public 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. */ + 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.*/ + struct bcm_msg bcm_msg_; + + public: + 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); + + uint32_t get_id() const; + + static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp); + bool is_correct_to_send(); + bool is_set(); + struct bcm_msg get_bcm_msg(); + void set_bcm_msg(struct bcm_msg bcm_msg); + + std::string get_debug_message(); + +}; diff --git a/low-can-binding/can/message/j1939-message.cpp b/low-can-binding/can/message/j1939-message.cpp new file mode 100644 index 00000000..8269cbfa --- /dev/null +++ b/low-can-binding/can/message/j1939-message.cpp @@ -0,0 +1,163 @@ +/* + * Copyright (C) 2018, 2019 "IoT.bzh" + * Author "Arthur Guyader" <arthur.guyader@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 "./j1939-message.hpp" +#include <cstring> +#include "../../binding/low-can-hat.hpp" + + +/// +/// @brief Class constructor +/// +/// j1939_message_t class constructor. +/// +j1939_message_t::j1939_message_t(): + message_t(), + name_{0}, + pgn_{0}, + addr_{0} +{} + +j1939_message_t::j1939_message_t(uint8_t length, + can_message_format_t format, + std::vector<uint8_t>& data, + uint64_t timestamp, + name_t name, + pgn_t pgn, + uint8_t addr): + message_t(length, format, data, timestamp), + name_{name}, + pgn_{pgn}, + addr_{addr} +{} + +/// +/// @brief Retrieve name_ member value. +/// +/// @return name_ class member +/// +uint64_t j1939_message_t::get_name() const { + return name_; +} + +/// +/// @brief Retrieve pgn_ member value. +/// +/// @return pgn_ class member +/// +uint32_t j1939_message_t::get_pgn() const{ + return pgn_; +} + +/// +/// @brief Retrieve addr_ member value. +/// +/// @return addr_ class member +/// +uint8_t j1939_message_t::get_addr() const{ + return addr_; +} + + +/// @brief Take a sockaddr_can struct and array of data to initialize class members +/// +/// This is the preferred way to initialize class members. +/// +/// @param[in] addr - sockaddr_can to get pgn, name and addr +/// @param[in] data - array of data get from the j1939 socket +/// @param[in] nbytes - size of the array of data +/// @param[in] timestamp - timestamp of the message +/// +/// @return A j1939_message_t object fully initialized with sockaddr_can and data values. +std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct sockaddr_can& addr, uint8_t (&data)[128],size_t nbytes, uint64_t timestamp) +{ + uint8_t length = 0; + can_message_format_t format; + std::vector<uint8_t> dataVector; + + if(nbytes > J1939_MAX_DLEN) + { + AFB_DEBUG("Unsupported j1939 frame"); + format = can_message_format_t::INVALID; + } + else + { + AFB_DEBUG("Got a j1939 frame"); + format = can_message_format_t::J1939; + } + + length = (uint8_t) nbytes; + dataVector.reserve(length); + int i; + dataVector.clear(); + for(i=0;i<length;i++) + { + dataVector.push_back(data[i]); + }; + + AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", + addr.can_addr.j1939.pgn, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); + + return std::make_shared<j1939_message_t>(j1939_message_t(length, format, dataVector, timestamp,addr.can_addr.j1939.name,addr.can_addr.j1939.pgn,addr.can_addr.j1939.addr)); +} + +/// @brief Test if members pgn_ and length are set. +/// +/// @return boolean - true = set - false = not set +bool j1939_message_t::is_set() +{ + return (pgn_ != 0 && length_ != 0); +} + +/// @brief Generate a string with informations about the message +/// +/// @return Debug message with informations about members +std::string j1939_message_t::get_debug_message() +{ + std::string ret = ""; + ret = ret + "Here is the next j1939 message : pgn " + std::to_string(pgn_) + " length " + std::to_string(length_) + ", data "; + for (size_t i = 0; i < data_.size(); i++) + { + ret = ret + std::to_string(data_[i]); + } + return ret; +} + +/// +/// @brief Retrieve pgn_ member value. +/// +/// @return pgn_ class member +/// +uint32_t j1939_message_t::get_id() const +{ + AFB_WARNING("Prefer method get_pgn() for j1939 messages"); + return get_pgn(); +} + + +struct bcm_msg j1939_message_t::get_bcm_msg() +{ + AFB_WARNING("Not implemented"); + struct bcm_msg bcm_msg; + ::memset(&bcm_msg, 0, sizeof(struct bcm_msg)); + return bcm_msg; +} + +void j1939_message_t::set_bcm_msg(struct bcm_msg bcm_msg) +{ + AFB_WARNING("Not implemented"); +} diff --git a/low-can-binding/can/message/j1939-message.hpp b/low-can-binding/can/message/j1939-message.hpp new file mode 100644 index 00000000..74b625e0 --- /dev/null +++ b/low-can-binding/can/message/j1939-message.hpp @@ -0,0 +1,73 @@ +/* + * Copyright (C) 2018, 2019 "IoT.bzh" + * Author "Arthur Guyader" <arthur.guyader@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. + */ + +#pragma once +#include <linux/can.h> +#include <linux/can/j1939.h> +#include "./message.hpp" + +#define J1939_MAX_MULTIPACKETS 255 +#define J1939_MAX_DLEN J1939_MAX_MULTIPACKETS * CAN_MAX_DLEN + +class j1939_message_t : public message_t +{ + private: + /* J1939 NAME + * + * bit 0-20 : Identity Number + * bit 21-31 : Manufacturer Code + * bit 32-34 : ECU Instance + * bit 35-39 : Function Instance + * bit 40-47 : Function + * bit 48 : Reserved + * bit 49-55 : Vehicle System + * bit 56-59 : Vehicle System Instance + * bit 60-62 : Industry Group + * bit 63 : Arbitrary Address Capable + */ + name_t name_; + + /* J1939 Parameter Group Number + * + * bit 0-7 : PDU Specific (PS) + * bit 8-15 : PDU Format (PF) + * bit 16 : Data Page (DP) + * bit 17 : Reserved (R) + * bit 19-31 : set to zero + */ + pgn_t pgn_; + + + /* J1939 Address + */ + uint8_t addr_; + + public: + j1939_message_t(); + j1939_message_t(uint8_t length, can_message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr); + uint64_t get_name() const; + uint32_t get_pgn() const; + uint8_t get_addr() const; + static std::shared_ptr<j1939_message_t> convert_from_addr(struct sockaddr_can& addr, uint8_t (&data)[128], size_t nbytes, uint64_t timestamp); + bool is_set(); + std::string get_debug_message(); + uint32_t get_id() const; + struct bcm_msg get_bcm_msg(); + void set_bcm_msg(struct bcm_msg bcm_msg); +}; + + diff --git a/low-can-binding/can/message/message.cpp b/low-can-binding/can/message/message.cpp new file mode 100644 index 00000000..fe37e7ad --- /dev/null +++ b/low-can-binding/can/message/message.cpp @@ -0,0 +1,96 @@ +/* + * 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 "./message.hpp" + +#include <cstring> + +#include "../../binding/low-can-hat.hpp" + +/// +/// @brief Class constructor +/// +/// message_t class constructor. +/// +message_t::message_t() + : length_{0}, + format_{can_message_format_t::INVALID}, + timestamp_{0}, + sub_id_{-1} +{} + +message_t::message_t(uint8_t length, + can_message_format_t format, + std::vector<uint8_t>& data, + uint64_t timestamp) + : length_{length}, + format_{format}, + data_{data}, + timestamp_{timestamp}, + sub_id_{-1} +{} + +int message_t::get_sub_id() const +{ + return sub_id_; +} + +/// +/// @brief Retrieve data_ member value. +/// +/// @return pointer to the first element +/// of class member data_ +/// +const uint8_t* message_t::get_data() const +{ + return data_.data(); +} + +/// +/// @brief Retrieve data_ member whole vector +/// +/// @return the vector as is +/// +const std::vector<uint8_t> message_t::get_data_vector() const +{ + return data_; +} + +/// +/// @brief Retrieve length_ member value. +/// +/// @return length_ class member +/// +uint8_t message_t::get_length() const +{ + return length_; +} + +void message_t::set_sub_id(int sub_id) +{ + sub_id_ = sub_id; +} + +uint64_t message_t::get_timestamp() const +{ + return timestamp_; +} + +can_message_format_t message_t::get_msg_format() +{ + return format_; +} diff --git a/low-can-binding/can/message/message.hpp b/low-can-binding/can/message/message.hpp new file mode 100644 index 00000000..6e0daada --- /dev/null +++ b/low-can-binding/can/message/message.hpp @@ -0,0 +1,86 @@ +/* + * 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. + */ + +#pragma once + +#include <vector> +#include <string> +#include <cstdint> +#include <iostream> +#include <memory> +#include <linux/can.h> +#include <linux/can/bcm.h> +#include "../../utils/timer.hpp" + +#define CAN_MESSAGE_SIZE 8 + +#define MAX_BCM_CAN_FRAMES 257 + +struct bcm_msg +{ + struct bcm_msg_head msg_head; + union { + struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES]; + struct can_frame frames[MAX_BCM_CAN_FRAMES]; + }; +}; + +/** + * @enum can_message_format_t + * @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. */ + J1939, ///< J1939 - Format for j1939 messages + INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/ +}; + + +/// @class 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 message_t { +protected: + 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.*/ + 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: + message_t(); + message_t(uint8_t length, can_message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp); + + int get_sub_id() const; + const uint8_t* get_data() const; + const std::vector<uint8_t> get_data_vector() const; + uint8_t get_length() const; + uint64_t get_timestamp() const; + + void set_sub_id(int sub_id); + void set_timestamp(uint64_t timestamp); + can_message_format_t get_msg_format(); + virtual bool is_set() = 0; + virtual std::string get_debug_message() = 0; + virtual uint32_t get_id() const = 0; + virtual struct bcm_msg get_bcm_msg() = 0; + virtual void set_bcm_msg(struct bcm_msg bcm_msg) = 0; + +}; |