aboutsummaryrefslogtreecommitdiffstats
path: root/low-can-binding/can
diff options
context:
space:
mode:
Diffstat (limited to 'low-can-binding/can')
-rw-r--r--low-can-binding/can/can-encoder.cpp23
-rw-r--r--low-can-binding/can/message-definition.cpp27
-rw-r--r--low-can-binding/can/message-definition.hpp13
-rw-r--r--low-can-binding/can/message/can-message.cpp22
-rw-r--r--low-can-binding/can/message/can-message.hpp3
-rw-r--r--low-can-binding/can/message/j1939-message.cpp18
-rw-r--r--low-can-binding/can/message/j1939-message.hpp4
-rw-r--r--low-can-binding/can/message/message.cpp26
-rw-r--r--low-can-binding/can/message/message.hpp23
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;