diff options
Diffstat (limited to 'low-can-binding/can')
| -rw-r--r-- | low-can-binding/can/can-encoder.cpp | 23 | ||||
| -rw-r--r-- | low-can-binding/can/message-definition.cpp | 27 | ||||
| -rw-r--r-- | low-can-binding/can/message-definition.hpp | 13 | ||||
| -rw-r--r-- | low-can-binding/can/message/can-message.cpp | 22 | ||||
| -rw-r--r-- | low-can-binding/can/message/can-message.hpp | 3 | ||||
| -rw-r--r-- | low-can-binding/can/message/j1939-message.cpp | 18 | ||||
| -rw-r--r-- | low-can-binding/can/message/j1939-message.hpp | 4 | ||||
| -rw-r--r-- | low-can-binding/can/message/message.cpp | 26 | ||||
| -rw-r--r-- | low-can-binding/can/message/message.hpp | 23 |
9 files changed, 69 insertions, 90 deletions
diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp index 44b5d9b2..37a7b246 100644 --- a/low-can-binding/can/can-encoder.cpp +++ b/low-can-binding/can/can-encoder.cpp @@ -174,20 +174,37 @@ message_t* encoder_t::build_message(const std::shared_ptr<signal_t>& signal, uin std::vector<uint8_t> data; if(signal->get_message()->is_fd()) { - message = new can_message_t(CANFD_MAX_DLEN,signal->get_message()->get_id(),CANFD_MAX_DLEN,signal->get_message()->get_format(),false,CAN_FD_FRAME,data,0); + message = new can_message_t( CANFD_MAX_DLEN, + signal->get_message()->get_id(), + CANFD_MAX_DLEN, + false, + signal->get_message()->get_flags(), + data, + 0); return build_frame(signal,value,message, factor, offset); } #ifdef USE_FEATURE_J1939 else if(signal->get_message()->is_j1939()) { - message = new j1939_message_t(J1939_MAX_DLEN,signal->get_message()->get_length(),signal->get_message()->get_format(),data,0,J1939_NO_NAME,signal->get_message()->get_id(),J1939_NO_ADDR); + message = new j1939_message_t( signal->get_message()->get_length(), + data, + 0, + J1939_NO_NAME, + signal->get_message()->get_id(), + J1939_NO_ADDR); return build_frame(signal,value,message, factor, offset); } #endif else { - message = new can_message_t(CAN_MAX_DLEN,signal->get_message()->get_id(),CAN_MAX_DLEN,signal->get_message()->get_format(),false,0,data,0); + message = new can_message_t(CAN_MAX_DLEN, + signal->get_message()->get_id(), + CAN_MAX_DLEN, + false, + signal->get_message()->get_flags(), + data, + 0); return build_frame(signal,value,message, factor, offset); } } diff --git a/low-can-binding/can/message-definition.cpp b/low-can-binding/can/message-definition.cpp index 064b2c17..407ad750 100644 --- a/low-can-binding/can/message-definition.cpp +++ b/low-can-binding/can/message-definition.cpp @@ -22,16 +22,14 @@ message_definition_t::message_definition_t( const std::string bus, uint32_t id, - bool is_fd, - message_format_t format, + uint32_t flags, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<signal_t> >& signals) : parent_{nullptr}, bus_{bus}, id_{id}, - is_fd_(is_fd), - format_{format}, + flags_{flags}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_{CAN_MESSAGE_SIZE}, @@ -42,8 +40,7 @@ message_definition_t::message_definition_t(const std::string bus, uint32_t id, const std::string name, uint32_t length, - bool is_fd, - message_format_t format, + uint32_t flags, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<signal_t> >& signals) @@ -52,8 +49,7 @@ message_definition_t::message_definition_t(const std::string bus, id_{id}, name_{name}, length_{length}, - is_fd_(is_fd), - format_{format}, + flags_{flags}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_{CAN_MESSAGE_SIZE}, @@ -73,19 +69,12 @@ uint32_t message_definition_t::get_id() const bool message_definition_t::is_fd() const { - return is_fd_; + return (flags_&FD_FRAME); } bool message_definition_t::is_j1939() const { - if(format_ == message_format_t::J1939) - { - return true; - } - else - { - return false; - } + return (flags_&J1939_PROTOCOL); } std::vector<std::shared_ptr<signal_t>>& message_definition_t::get_signals() @@ -108,7 +97,7 @@ uint32_t message_definition_t::get_length() const return length_; } -message_format_t message_definition_t::get_format() const +uint32_t message_definition_t::get_flags() const { - return format_; + return flags_; }
\ No newline at end of file diff --git a/low-can-binding/can/message-definition.hpp b/low-can-binding/can/message-definition.hpp index f39bb71e..13ae2289 100644 --- a/low-can-binding/can/message-definition.hpp +++ b/low-can-binding/can/message-definition.hpp @@ -45,8 +45,7 @@ private: uint32_t id_; ///< id_ - The ID or the PGN (if j1939) of the message.*/ std::string name_; ///< name_ - J1939 PGN name uint32_t length_; ///< length_ - Message data length in bytes. For J1939 message, this is the expected data size - bool is_fd_; /*!< uses_fd_ - Flags to enable an FD CAN message communication*/ - message_format_t format_; ///< format_ - the format of the message's ID.*/ + uint32_t flags_; ///< 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.*/ @@ -61,11 +60,10 @@ public: //message_definition_t(const message_definition_t& b); message_definition_t(const std::string bus); message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed); - message_definition_t(const std::string bus, uint32_t id, message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed); + message_definition_t(const std::string bus, uint32_t id, uint32_t flags, frequency_clock_t frequency_clock, bool force_send_changed); message_definition_t(const std::string bus, uint32_t id, - bool is_fd, - message_format_t format, + uint32_t flags, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<signal_t> >& signals); @@ -73,8 +71,7 @@ public: uint32_t id, std::string name, uint32_t length, - bool is_fd, - message_format_t format, + uint32_t flags, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<signal_t> >& signals); @@ -87,7 +84,7 @@ public: bool is_j1939() const; std::vector<std::shared_ptr<signal_t>>& get_signals(); uint32_t get_length() const; - message_format_t get_format() const; + uint32_t get_flags() const; void set_parent(std::shared_ptr<message_set_t> parent); void set_last_value(std::shared_ptr<message_t> m); diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp index 8a04992e..0ef693c7 100644 --- a/low-can-binding/can/message/can-message.cpp +++ b/low-can-binding/can/message/can-message.cpp @@ -35,12 +35,11 @@ can_message_t::can_message_t() can_message_t::can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, - message_format_t format, bool rtr_flag, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp) - : message_t(maxdlen, length, format, data, timestamp, flags), + : message_t(maxdlen, length, flags, data, timestamp), id_{id}, rtr_flag_{rtr_flag} {} @@ -62,7 +61,7 @@ uint32_t can_message_t::get_id() const /// @return True if object correctly initialized and false if not. bool can_message_t::is_correct_to_send() { - if (id_ != 0 && length_ != 0 && format_ != message_format_t::INVALID) + if (id_ != 0 && length_ != 0 && !(flags_&INVALID_FLAG)) { int i; for(i=0;i<length_;i++) @@ -83,9 +82,8 @@ bool can_message_t::is_correct_to_send() std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) { uint32_t maxdlen = 0, length = 0; - uint8_t flags = 0; + uint32_t flags = 0; uint32_t id; - message_format_t format; bool rtr_flag; std::vector<uint8_t> data; @@ -106,17 +104,17 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca if (frame.can_id & CAN_ERR_FLAG) { - format = message_format_t::INVALID; + flags = flags|INVALID_FLAG; id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); } else if (frame.can_id & CAN_EFF_FLAG) { - format = message_format_t::EXTENDED; + flags = flags|EXTENDED_ID; id = frame.can_id & CAN_EFF_MASK; } else { - format = message_format_t::STANDARD; + flags = flags|STANDARD_ID; id = frame.can_id & CAN_SFF_MASK; } @@ -140,8 +138,8 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca 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(maxdlen == CANFD_MAX_DLEN) + flags = frame.flags & 0xF;*/ if (data.capacity() < maxdlen) data.reserve(maxdlen); @@ -155,10 +153,10 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca }; 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]); + id, (uint32_t)flags, 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)); + return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, rtr_flag, flags, data, timestamp)); } /// @brief Take all initialized class members and build a diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp index 75e65c67..769899ea 100644 --- a/low-can-binding/can/message/can-message.hpp +++ b/low-can-binding/can/message/can-message.hpp @@ -39,8 +39,7 @@ class can_message_t : public message_t { public: can_message_t(); - can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, message_format_t format, bool rtr_flag_, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp); - + can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, bool rtr_flag_, uint32_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); diff --git a/low-can-binding/can/message/j1939-message.cpp b/low-can-binding/can/message/j1939-message.cpp index 2d600a1e..ec65cba4 100644 --- a/low-can-binding/can/message/j1939-message.cpp +++ b/low-can-binding/can/message/j1939-message.cpp @@ -45,13 +45,12 @@ j1939_message_t::j1939_message_t(): * @param addr The address of the message */ j1939_message_t::j1939_message_t(uint32_t length, - message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr): - message_t(J1939_MAX_DLEN,length, format, data, timestamp, 0), + message_t(J1939_MAX_DLEN, length, J1939_PROTOCOL, data, timestamp), name_{name}, pgn_{pgn}, addr_{addr} @@ -99,18 +98,13 @@ std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct socka { int i; uint32_t length = 0; - message_format_t format; + uint32_t flags; std::vector<uint8_t> data_vector; if(nbytes > J1939_MAX_DLEN) { AFB_DEBUG("Unsupported j1939 frame"); - format = message_format_t::INVALID; - } - else - { - //AFB_DEBUG("Got a j1939 frame"); - format = message_format_t::J1939; + return std::make_shared<j1939_message_t>(j1939_message_t()); } length = (uint32_t) nbytes; @@ -126,10 +120,10 @@ std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct socka data_vector.push_back(data[i]); }; - AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %s", - addr.can_addr.j1939.pgn, (uint8_t)format, length, data_string.c_str()); + AFB_DEBUG("Found pgn: %X, length: %X, data %s", + addr.can_addr.j1939.pgn, length, data_string.c_str()); - return std::make_shared<j1939_message_t>(j1939_message_t(J1939_MAX_DLEN,length, format, data_vector, timestamp,addr.can_addr.j1939.name,addr.can_addr.j1939.pgn,addr.can_addr.j1939.addr)); + return std::make_shared<j1939_message_t>(j1939_message_t(length, data_vector, 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. diff --git a/low-can-binding/can/message/j1939-message.hpp b/low-can-binding/can/message/j1939-message.hpp index 0d3736f1..9e9cea4a 100644 --- a/low-can-binding/can/message/j1939-message.hpp +++ b/low-can-binding/can/message/j1939-message.hpp @@ -67,7 +67,7 @@ class j1939_message_t : public message_t public: j1939_message_t(); - j1939_message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr); + j1939_message_t(uint32_t length, 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; @@ -78,4 +78,4 @@ class j1939_message_t : public message_t struct sockaddr_can get_sockname(); void set_sockname(struct sockaddr_can sockname); void set_sockname(pgn_t pgn, name_t name, uint8_t addr); -}; +};
\ No newline at end of file diff --git a/low-can-binding/can/message/message.cpp b/low-can-binding/can/message/message.cpp index 497304de..aaab99f5 100644 --- a/low-can-binding/can/message/message.cpp +++ b/low-can-binding/can/message/message.cpp @@ -28,10 +28,9 @@ message_t::message_t() : maxdlen_{0}, length_{0}, - format_{message_format_t::INVALID}, + flags_{INVALID_FLAG}, timestamp_{0}, - sub_id_{-1}, - flags_{0} + sub_id_{-1} {} /** @@ -45,17 +44,15 @@ message_t::message_t() */ message_t::message_t(uint32_t maxdlen, uint32_t length, - message_format_t format, + uint32_t flags, std::vector<uint8_t>& data, - uint64_t timestamp, - uint32_t flags) + uint64_t timestamp) : maxdlen_{maxdlen}, length_{length}, - format_{format}, + flags_{flags}, data_{data}, timestamp_{timestamp}, - sub_id_{-1}, - flags_{flags} + sub_id_{-1} {} /** @@ -163,17 +160,6 @@ uint64_t message_t::get_timestamp() const return timestamp_; } -/** - * @brief Return the format of the message - * - * @return message_format_t The message format - */ -message_format_t message_t::get_msg_format() -{ - return format_; -} - - uint32_t message_t::get_flags() { return flags_; diff --git a/low-can-binding/can/message/message.hpp b/low-can-binding/can/message/message.hpp index 2182fe5b..6cef0185 100644 --- a/low-can-binding/can/message/message.hpp +++ b/low-can-binding/can/message/message.hpp @@ -32,16 +32,17 @@ /** - * @enum message_format_t - * @brief The ID format for a CAN message. + * FLAGS */ -enum class 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'*/ -}; +#define INVALID_FLAG 0x0001 +#define STANDARD_ID 0x0002 +#define EXTENDED_ID 0x0004 +#define BCM_PROTOCOL 0x0008 +#define J1939_PROTOCOL 0x0010 +#define J1939_ADDR_CLAIM_PROTOCOL 0x0020 +#define ISOTP_PROTOCOL 0x0040 +#define FD_FRAME 0x0800 /// @class message_t /// @@ -51,15 +52,14 @@ class message_t { protected: uint32_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/ uint32_t length_; ///< length_ - the length of the data array. */ - message_format_t format_; ///< format_ - the format of the message's ID.*/ + uint32_t flags_; ///< format_ - the format mask of the message*/ 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. */ - uint32_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ public: message_t(); - message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, uint32_t flags); + message_t(uint32_t maxdlen, uint32_t length, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp); virtual ~message_t() = default; int get_sub_id() const; @@ -72,7 +72,6 @@ public: void set_data(std::vector<uint8_t> &data); void set_sub_id(int sub_id); void set_timestamp(uint64_t timestamp); - 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; |