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-rw-r--r--low-can-binding/can/can-encoder.cpp114
-rw-r--r--low-can-binding/can/can-encoder.hpp7
-rw-r--r--low-can-binding/can/message-definition.cpp10
-rw-r--r--low-can-binding/can/message-definition.hpp2
-rw-r--r--low-can-binding/can/message/can-message.cpp58
-rw-r--r--low-can-binding/can/message/can-message.hpp10
-rw-r--r--low-can-binding/can/message/j1939-message.cpp77
-rw-r--r--low-can-binding/can/message/j1939-message.hpp12
-rw-r--r--low-can-binding/can/message/message.cpp59
-rw-r--r--low-can-binding/can/message/message.hpp12
10 files changed, 313 insertions, 48 deletions
diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp
index a11dedfc..ccd49722 100644
--- a/low-can-binding/can/can-encoder.cpp
+++ b/low-can-binding/can/can-encoder.cpp
@@ -51,10 +51,122 @@ const canfd_frame encoder_t::build_frame(const std::shared_ptr<signal_t>& signal
cf.data,
cf.len);
}
-
return cf;
}
+
+/**
+ * @brief Allows to build a single frame message with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @param message A single frame message to complete
+ * @return message_t* The message that is generated
+ */
+message_t* encoder_t::build_one_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
+{
+ signal->set_last_value((float)value);
+ uint8_t data_tab[message->get_length()];
+ ::memset(&data_tab, 0, sizeof(data_tab));
+ std::vector<uint8_t> data;
+
+ for(const auto& sig: signal->get_message()->get_signals())
+ {
+ float last_value = sig->get_last_value();
+ bitfield_encode_float(last_value,
+ sig->get_bit_position(),
+ sig->get_bit_size(),
+ sig->get_factor(),
+ sig->get_offset(),
+ data_tab,
+ (uint8_t)message->get_length());
+ }
+
+ for (size_t i = 0; i < (uint8_t) message->get_length(); i++)
+ {
+ data.push_back(data_tab[i]);
+ }
+
+ message->set_data(data);
+ return message;
+}
+
+/**
+ * @brief Allows to build a multi frame message with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @param message A multi frame message to complete
+ * @return message_t* The message that is generated
+ */
+message_t* encoder_t::build_multi_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
+{
+ signal->set_last_value((float)value);
+ std::vector<uint8_t> data;
+
+ uint32_t msgs_len = signal->get_message()->get_length(); // multi frame - number of bytes
+ int number_of_frame = (int) msgs_len / 8;
+
+ uint8_t data_tab[number_of_frame][8] = {0};
+
+ for(const auto& sig: signal->get_message()->get_signals())
+ {
+
+ int frame_position = (int) sig->get_bit_position() / 64;
+ float last_value = sig->get_last_value();
+ uint8_t bit_position = sig->get_bit_position() - ((uint8_t)(64 * frame_position));
+
+ bitfield_encode_float(last_value,
+ bit_position,
+ sig->get_bit_size(),
+ sig->get_factor(),
+ sig->get_offset(),
+ data_tab[frame_position],
+ 8);
+ }
+
+ for (size_t i = 0; i < number_of_frame; i++)
+ {
+ for(size_t j = 0; j < 8 ; j++)
+ {
+ data.push_back(data_tab[i][j]);
+ }
+ }
+
+ message->set_data(data);
+ return message;
+}
+
+/**
+ * @brief Allows to build a message_t with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @return message_t* The message that is generated
+ */
+message_t* encoder_t::build_message(const std::shared_ptr<signal_t>& signal, uint64_t value)
+{
+ message_t *message;
+ 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);
+ return build_one_frame_message(signal,value,message);
+ }
+#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);
+ return build_multi_frame_message(signal,value,message);
+ }
+#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);
+ return build_one_frame_message(signal,value,message);
+ }
+}
+
/// @brief Encode a boolean into an integer, fit for a CAN signal bitfield.
///
/// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
diff --git a/low-can-binding/can/can-encoder.hpp b/low-can-binding/can/can-encoder.hpp
index 6ae786a1..c37521f4 100644
--- a/low-can-binding/can/can-encoder.hpp
+++ b/low-can-binding/can/can-encoder.hpp
@@ -20,11 +20,18 @@
#include "signals.hpp"
#include "message/can-message.hpp"
#include "openxc.pb.h"
+#include "message/can-message.hpp"
+#ifdef USE_FEATURE_J1939
+#include "message/j1939-message.hpp"
+#endif
class encoder_t
{
public:
static const canfd_frame build_frame(const std::shared_ptr<signal_t>& signal, uint64_t value);
+ static message_t* build_message(const std::shared_ptr<signal_t>& signal, uint64_t value);
+ static message_t* build_one_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message);
+ static message_t* build_multi_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message);
static uint64_t encode_state(const signal_t& signal, const std::string& value, bool* send);
static uint64_t encode_boolean(const signal_t& signal, bool value, bool* send);
static uint64_t encode_number(const signal_t& signal, float value, bool* send);
diff --git a/low-can-binding/can/message-definition.cpp b/low-can-binding/can/message-definition.cpp
index efc72f07..064b2c17 100644
--- a/low-can-binding/can/message-definition.cpp
+++ b/low-can-binding/can/message-definition.cpp
@@ -102,3 +102,13 @@ void message_definition_t::set_last_value(std::shared_ptr<message_t> m)
{
last_value_= m->get_data_vector();
}
+
+uint32_t message_definition_t::get_length() const
+{
+ return length_;
+}
+
+message_format_t message_definition_t::get_format() const
+{
+ return format_;
+} \ 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 1773e6b8..f39bb71e 100644
--- a/low-can-binding/can/message-definition.hpp
+++ b/low-can-binding/can/message-definition.hpp
@@ -86,6 +86,8 @@ public:
bool is_fd() const;
bool is_j1939() const;
std::vector<std::shared_ptr<signal_t>>& get_signals();
+ uint32_t get_length() const;
+ message_format_t get_format() 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 b012bbe5..945c0ba7 100644
--- a/low-can-binding/can/message/can-message.cpp
+++ b/low-can-binding/can/message/can-message.cpp
@@ -28,22 +28,20 @@
///
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,
+can_message_t::can_message_t(uint32_t maxdlen,
uint32_t id,
- uint8_t length,
+ uint32_t length,
message_format_t format,
bool rtr_flag,
- uint8_t flags,
+ uint32_t flags,
std::vector<uint8_t>& data,
uint64_t timestamp)
- : message_t(length, format, data, timestamp),
- maxdlen_{maxdlen},
+ : message_t(maxdlen, length, format, data, timestamp),
id_{id},
rtr_flag_{rtr_flag},
flags_{flags}
@@ -86,7 +84,8 @@ bool can_message_t::is_correct_to_send()
/// @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 maxdlen = 0, length = 0;
+ uint8_t flags = 0;
uint32_t id;
message_format_t format;
bool rtr_flag;
@@ -164,6 +163,47 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca
return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp));
}
+/// @brief Take all initialized class members and build a
+/// 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 = (uint8_t) get_length();
+ ::memcpy(frame.data, get_data(), length_);
+ }
+ else
+ AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+ return frame;
+}
+
+/// @brief Take all initialized class members and build a
+/// 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 = (uint8_t) get_length();
+ ::memcpy(frame.data, get_data(), length_);
+ }
+ else
+ AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+ return frame;
+}
bool can_message_t::is_set()
{
@@ -192,3 +232,7 @@ void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
bcm_msg_ = bcm_msg;
}
+uint32_t can_message_t::get_flags()
+{
+ return flags_;
+} \ No newline at end of file
diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp
index df0d2a19..7625cc17 100644
--- a/low-can-binding/can/message/can-message.hpp
+++ b/low-can-binding/can/message/can-message.hpp
@@ -26,24 +26,26 @@
/// 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.*/
+ uint32_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, message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+ 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);
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);
+ struct canfd_frame convert_to_canfd_frame();
+ struct can_frame convert_to_can_frame();
+
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();
-
+ uint32_t get_flags();
};
diff --git a/low-can-binding/can/message/j1939-message.cpp b/low-can-binding/can/message/j1939-message.cpp
index dad8e7f1..08fc1302 100644
--- a/low-can-binding/can/message/j1939-message.cpp
+++ b/low-can-binding/can/message/j1939-message.cpp
@@ -16,14 +16,16 @@
*/
#include <cstring>
+#include <sstream>
+#include <iomanip>
+#include <net/if.h>
#include "../../binding/low-can-hat.hpp"
#include "j1939-message.hpp"
-///
-/// @brief Class constructor
-///
-/// j1939_message_t class constructor.
-///
+/**
+ * @brief Construct a new j1939 message t::j1939 message t object
+ *
+ */
j1939_message_t::j1939_message_t():
message_t(),
name_{0},
@@ -31,14 +33,27 @@ j1939_message_t::j1939_message_t():
addr_{0}
{}
-j1939_message_t::j1939_message_t(uint8_t length,
+/**
+ * @brief Construct a new j1939 message t::j1939 message t object
+ *
+ * @param maxdlen The max length of the message
+ * @param length The length of the message
+ * @param format The format of the message
+ * @param data The vector data of the message
+ * @param timestamp The timetamp of the message
+ * @param name The name of the message
+ * @param pgn The PGN of the message
+ * @param addr The address of the message
+ */
+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):
- message_t(length, format, data, timestamp),
+ message_t(maxdlen,length, format, data, timestamp),
name_{name},
pgn_{pgn},
addr_{addr}
@@ -71,6 +86,23 @@ uint8_t j1939_message_t::get_addr() const{
return addr_;
}
+/**
+ * @brief Convert hex data to string
+ *
+ * @param data An array of data
+ * @param length The length of the data
+ * @return std::string The string data
+ */
+std::string to_hex( uint8_t data[], const size_t length)
+{
+ std::stringstream stream;
+ stream << std::hex << std::setfill('0');
+ for(int i = 0; i < length; i++)
+ {
+ stream << std::hex << ((int) data[i]);
+ }
+ return stream.str();
+}
/// @brief Take a sockaddr_can struct and array of data to initialize class members
///
@@ -84,9 +116,10 @@ uint8_t j1939_message_t::get_addr() const{
/// @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;
- message_format_t format;
- std::vector<uint8_t> dataVector;
+ int i;
+ uint32_t length = 0;
+ message_format_t format;
+ std::vector<uint8_t> data_vector;
if(nbytes > J1939_MAX_DLEN)
{
@@ -95,23 +128,27 @@ std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct socka
}
else
{
- AFB_DEBUG("Got a j1939 frame");
+ //AFB_DEBUG("Got a j1939 frame");
format = message_format_t::J1939;
}
- length = (uint8_t) nbytes;
- dataVector.reserve(length);
- int i;
- dataVector.clear();
+ length = (uint32_t) nbytes;
+ data_vector.reserve(length);
+
+ data_vector.clear();
+
+ std::string data_string;
+ data_string = to_hex(data,length);
+
for(i=0;i<length;i++)
{
- dataVector.push_back(data[i]);
+ data_vector.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]);
+ AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %s",
+ addr.can_addr.j1939.pgn, (uint8_t)format, length, data_string.c_str());
- 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));
+ 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));
}
/// @brief Test if members pgn_ and length are set.
@@ -143,7 +180,7 @@ std::string j1939_message_t::get_debug_message()
///
uint32_t j1939_message_t::get_id() const
{
- AFB_WARNING("Prefer method get_pgn() for j1939 messages");
+ AFB_DEBUG("Prefer method get_pgn() for j1939 messages");
return get_pgn();
}
diff --git a/low-can-binding/can/message/j1939-message.hpp b/low-can-binding/can/message/j1939-message.hpp
index 482f167d..aad62a1f 100644
--- a/low-can-binding/can/message/j1939-message.hpp
+++ b/low-can-binding/can/message/j1939-message.hpp
@@ -19,11 +19,12 @@
#include <linux/can/j1939.h>
#include "message.hpp"
-#include "../../utils/socketcan-j1939.hpp"
+
#define J1939_MAX_MULTIPACKETS 255
#define J1939_MAX_DLEN J1939_MAX_MULTIPACKETS * CAN_MAX_DLEN
+
class j1939_message_t : public message_t
{
private:
@@ -54,12 +55,19 @@ class j1939_message_t : public message_t
/* J1939 Address
+ 0-255
*/
uint8_t addr_;
+ /**
+ * @brief The sockanme to send a message to
+ * an other ECU
+ */
+ struct sockaddr_can sockname_;
+
public:
j1939_message_t();
- j1939_message_t(uint8_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 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);
uint64_t get_name() const;
uint32_t get_pgn() const;
uint8_t get_addr() const;
diff --git a/low-can-binding/can/message/message.cpp b/low-can-binding/can/message/message.cpp
index 2ae095cb..5384c021 100644
--- a/low-can-binding/can/message/message.cpp
+++ b/low-can-binding/can/message/message.cpp
@@ -21,29 +21,45 @@
#include "../../binding/low-can-hat.hpp"
-///
-/// @brief Class constructor
-///
-/// message_t class constructor.
-///
+/**
+ * @brief Construct a new message t::message t object
+ *
+ */
message_t::message_t()
- : length_{0},
+ : maxdlen_{0},
+ length_{0},
format_{message_format_t::INVALID},
timestamp_{0},
sub_id_{-1}
{}
-message_t::message_t(uint8_t length,
+/**
+ * @brief Construct a new message t::message t object
+ *
+ * @param maxdlen The maxdlen of a message
+ * @param length The length of the message
+ * @param format The format of the message
+ * @param data The data vector of the message
+ * @param timestamp The timestamp of the message
+ */
+message_t::message_t(uint32_t maxdlen,
+ uint32_t length,
message_format_t format,
std::vector<uint8_t>& data,
uint64_t timestamp)
- : length_{length},
+ : maxdlen_{maxdlen},
+ length_{length},
format_{format},
data_{data},
timestamp_{timestamp},
sub_id_{-1}
{}
+/**
+ * @brief Return the sub_id of the message
+ *
+ * @return int The sub_id of the message
+ */
int message_t::get_sub_id() const
{
return sub_id_;
@@ -75,21 +91,46 @@ const std::vector<uint8_t> message_t::get_data_vector() const
///
/// @return length_ class member
///
-uint8_t message_t::get_length() const
+uint32_t message_t::get_length() const
{
return length_;
}
+/**
+ * @brief Set data vector of the message
+ *
+ * @param data A vector of data
+ */
+void message_t::set_data(std::vector<uint8_t> &data)
+{
+ data_ = data;
+}
+
+/**
+ * @brief Set sub_id of the message
+ *
+ * @param sub_id The sub_id to set
+ */
void message_t::set_sub_id(int sub_id)
{
sub_id_ = sub_id;
}
+/**
+ * @brief Return the timestamp of the message
+ *
+ * @return uint64_t The timestamp
+ */
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_;
diff --git a/low-can-binding/can/message/message.hpp b/low-can-binding/can/message/message.hpp
index e62b6c6b..5be1ff18 100644
--- a/low-can-binding/can/message/message.hpp
+++ b/low-can-binding/can/message/message.hpp
@@ -57,30 +57,32 @@ enum class message_format_t {
/// 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). */
+ 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.*/
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, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+ message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+ virtual ~message_t() = default;
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;
+ uint32_t get_length() const;
uint64_t get_timestamp() const;
+ 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;
- virtual struct bcm_msg get_bcm_msg() = 0;
- virtual void set_bcm_msg(struct bcm_msg bcm_msg) = 0;
};