diff options
Diffstat (limited to 'low-can-binding')
| -rw-r--r-- | low-can-binding/binding/application-generated.cpp | 50 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 40 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.cpp | 49 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.hpp | 2 | ||||
| -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 | ||||
| -rw-r--r-- | low-can-binding/diagnostic/diagnostic-manager.cpp | 2 | ||||
| -rw-r--r-- | low-can-binding/utils/socketcan-j1939/socketcan-j1939.cpp | 2 | ||||
| -rw-r--r-- | low-can-binding/utils/socketcan.hpp | 11 |
16 files changed, 143 insertions, 172 deletions
diff --git a/low-can-binding/binding/application-generated.cpp b/low-can-binding/binding/application-generated.cpp index 65f72cdf..47fdafa5 100644 --- a/low-can-binding/binding/application-generated.cpp +++ b/low-can-binding/binding/application-generated.cpp @@ -7,7 +7,7 @@ application_t::application_t() , message_set_{ {std::make_shared<message_set_t>(message_set_t{0,"AGL Virtual Car", { // beginning message_definition_ vector - {std::make_shared<message_definition_t>(message_definition_t{"ls",0x30,"",0,false,message_format_t::EXTENDED,frequency_clock_t(5.00000f),true, + {std::make_shared<message_definition_t>(message_definition_t{"ls",0x30,"",8,4,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "hvac.fan.speed",// generic_name @@ -22,7 +22,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable nullptr,// decoder nullptr,// encoder false,// received @@ -99,7 +99,7 @@ application_t::application_t() })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"hs",0x3D9,"",0,true,message_format_t::STANDARD,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"hs",0x3D9,"",8,2050,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "engine.speed",// generic_name @@ -169,7 +169,7 @@ application_t::application_t() })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"hs",0x3E9,"",0,false,message_format_t::STANDARD,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"hs",0x3E9,"",8,2,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "vehicle.average.speed",// generic_name @@ -195,7 +195,7 @@ application_t::application_t() })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"hs",0x4D1,"",0,false,message_format_t::STANDARD,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"hs",0x4D1,"",8,2,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "engine.oil.temp",// generic_name @@ -210,7 +210,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable nullptr,// decoder nullptr,// encoder false,// received @@ -232,7 +232,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable decoder_t::decode_boolean,// decoder nullptr,// encoder false,// received @@ -243,7 +243,7 @@ application_t::application_t() })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"hs",0x620,"",0,false,message_format_t::STANDARD,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"hs",0x620,"",8,2,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "doors.boot.open",// generic_name @@ -258,7 +258,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable decoder_t::decode_boolean,// decoder nullptr,// encoder false,// received @@ -280,7 +280,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable decoder_t::decode_boolean,// decoder nullptr,// encoder false,// received @@ -302,7 +302,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable decoder_t::decode_boolean,// decoder nullptr,// encoder false,// received @@ -324,7 +324,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable decoder_t::decode_boolean,// decoder nullptr,// encoder false,// received @@ -346,7 +346,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable decoder_t::decode_boolean,// decoder nullptr,// encoder false,// received @@ -357,7 +357,7 @@ application_t::application_t() })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"hs",0x799,"",0,false,message_format_t::STANDARD,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"hs",0x799,"",8,2,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "windows.front_left.open",// generic_name @@ -372,7 +372,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable decoder_t::decode_boolean,// decoder nullptr,// encoder false,// received @@ -394,7 +394,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable decoder_t::decode_boolean,// decoder nullptr,// encoder false,// received @@ -416,7 +416,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable decoder_t::decode_boolean,// decoder nullptr,// encoder false,// received @@ -438,7 +438,7 @@ application_t::application_t() false,// force_send_changed { },// states - false,// writable + true,// writable decoder_t::decode_boolean,// decoder nullptr,// encoder false,// received @@ -450,7 +450,7 @@ application_t::application_t() } // end signals vector })} // end message_definition entry #ifdef USE_FEATURE_J1939 -, {std::make_shared<message_definition_t>(message_definition_t{"j1939",61442,"ETC1",8,false,message_format_t::J1939,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"j1939",61442,"ETC1",8,18,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "Eng.Momentary.Overspeed.Enable",// generic_name @@ -724,7 +724,7 @@ application_t::application_t() })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"j1939",61444,"EEC1",8,false,message_format_t::J1939,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"j1939",61444,"EEC1",8,18,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "Actl.Eng.Prcnt.Trque.High.Resolution",// generic_name @@ -934,7 +934,7 @@ application_t::application_t() })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"j1939",61449,"VDC2",8,false,message_format_t::J1939,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"j1939",61449,"VDC2",8,18,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "Lateral.Acceleration",// generic_name @@ -1074,7 +1074,7 @@ application_t::application_t() })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"j1939",65215,"EBC2",8,false,message_format_t::J1939,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"j1939",65215,"EBC2",8,18,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "Front.Axle.Speed",// generic_name @@ -1232,7 +1232,7 @@ application_t::application_t() })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"j1939",65253,"HOURS",8,false,message_format_t::J1939,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"j1939",65253,"HOURS",8,18,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "Eng.Total.Hours.Of.Operation",// generic_name @@ -1280,7 +1280,7 @@ application_t::application_t() })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"j1939",65262,"ET1",8,false,message_format_t::J1939,frequency_clock_t(5.00000f),true, +, {std::make_shared<message_definition_t>(message_definition_t{"j1939",65262,"ET1",8,18,frequency_clock_t(5.00000f),true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "Eng.Coolant.Temp",// generic_name @@ -1701,5 +1701,3 @@ const std::string application_t::get_diagnostic_bus() const { return "hs"; } - - diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index 32fc83d2..c677b172 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -102,7 +102,7 @@ int read_message(sd_event_source *event_source, int fd, uint32_t revents, void * std::shared_ptr<message_t> message = s->read_message(); // Sure we got a valid CAN message ? - if (! message->get_id() == 0 && ! message->get_length() == 0 && message->get_msg_format() != message_format_t::INVALID) + if (! message->get_id() == 0 && ! message->get_length() == 0 && !(message->get_flags()&INVALID_FLAG)) { push_n_notify(message); } @@ -515,7 +515,7 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, sock } } */ -static int send_message(message_t *message, const std::string& bus_name, socket_type type) +static int send_message(message_t *message, const std::string& bus_name, uint32_t flags) { if(bus_name.empty()) { @@ -530,12 +530,12 @@ static int send_message(message_t *message, const std::string& bus_name, socket_ } - if(type == socket_type::BCM) + if(flags&BCM_PROTOCOL) { return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name); } #ifdef USE_FEATURE_J1939 - else if(type == socket_type::J1939) + else if(flags&J1939_PROTOCOL) { return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name); } @@ -547,7 +547,7 @@ static int send_message(message_t *message, const std::string& bus_name, socket_ } -static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, struct json_object *can_data, socket_type type) +static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, struct json_object *can_data, uint32_t flags) { struct utils::signals_found sf; @@ -557,7 +557,7 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess if( !sf.signals.empty() ) { AFB_DEBUG("ID WRITE RAW : %d",sf.signals[0]->get_message()->get_id()); - if(type == socket_type::BCM) + if(flags&BCM_PROTOCOL) { if(sf.signals[0]->get_message()->is_fd()) { @@ -573,12 +573,12 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess } if((message->get_length()> 0 && ( - ((type == socket_type::BCM) && ( + ((flags&BCM_PROTOCOL) && ( (message->get_length() <= CANFD_MAX_DLEN * MAX_BCM_CAN_FRAMES && message->get_flags() & CAN_FD_FRAME) || (message->get_length() <= CAN_MAX_DLEN * MAX_BCM_CAN_FRAMES && !(message->get_flags() & CAN_FD_FRAME)) )) #ifdef USE_FEATURE_J1939 - || (message->get_length() <= J1939_MAX_DLEN && type == socket_type::J1939) + || (message->get_length() <= J1939_MAX_DLEN && flags&J1939_PROTOCOL) #endif ))) { @@ -593,11 +593,11 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess } else { - if(type == socket_type::BCM) + if(flags&BCM_PROTOCOL) { afb_req_fail(request, "Invalid", "Frame BCM"); } - else if(type == socket_type::J1939) + else if(flags&J1939_PROTOCOL) { afb_req_fail(request, "Invalid", "Frame J1939"); } @@ -608,7 +608,7 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess return; } - if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name),type)) + if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name),flags)) { afb_req_success(request, nullptr, "Message correctly sent"); } @@ -639,8 +639,8 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj "can_dlc", &length, "can_data", &can_data)) { - message = new can_message_t(0,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0); - write_raw_frame(request,bus_name,message,can_data,socket_type::BCM); + message = new can_message_t(0,(uint32_t)id,(uint32_t)length,false,0,data,0); + write_raw_frame(request,bus_name,message,can_data,BCM_PROTOCOL); } #ifdef USE_FEATURE_J1939 else if(!wrap_json_unpack(json_value, "{si, si, so !}", @@ -648,8 +648,8 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj "length", &length, "data", &can_data)) { - message = new j1939_message_t(J1939_MAX_DLEN,(uint32_t)length,message_format_t::J1939,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR); - write_raw_frame(request,bus_name,message,can_data,socket_type::J1939); + message = new j1939_message_t((uint32_t)length,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR); + write_raw_frame(request,bus_name,message,can_data,J1939_PROTOCOL); } #endif else @@ -690,21 +690,21 @@ static void write_signal(afb_req_t request, const std::string& name, json_object encoder(*sig, dynafield_value, &send) : encoder_t::encode_DynamicField(*sig, dynafield_value, &send); - socket_type type = socket_type::INVALID; + uint32_t flags = INVALID_FLAG; if(sig->get_message()->is_j1939()) { - type = socket_type::J1939; + flags = J1939_PROTOCOL; } else { - type = socket_type::BCM; + flags = BCM_PROTOCOL; } // cfd = encoder_t::build_frame(sig, value); message_t *message = encoder_t::build_message(sig,value,false,false); - if(! send_message(message, sig->get_message()->get_bus_device_name(), type) && send) + if(! send_message(message, sig->get_message()->get_bus_device_name(), flags) && send) { afb_req_success(request, nullptr, "Message correctly sent"); } @@ -912,7 +912,7 @@ int init_binding(afb_api_t api) ret = low_can_subscription_t::open_socket(*low_can_j1939, message_definition->get_bus_device_name(), - socket_type::J1939_ADDR_CLAIM); + J1939_ADDR_CLAIM_PROTOCOL); if(ret < 0) { AFB_ERROR("Error open socket address claiming for j1939 protocol"); diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp index edc0a0b4..0f4bf0c9 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -241,14 +241,12 @@ void low_can_subscription_t::set_index(int index) /// it will open the socket with the required CAN bus device name. /// /// @return INVALID_SOCKET on failure, else positive integer -int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, socket_type type) +int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, uint32_t flags) { int ret = -1; if(! subscription.socket_) { - switch (type) - { - case socket_type::BCM: + if(flags&BCM_PROTOCOL) { if( subscription.signal_ != nullptr) { @@ -266,10 +264,9 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co ret = subscription.socket_->open(bus_name); } subscription.index_ = (int)subscription.socket_->socket(); - break; } #ifdef USE_FEATURE_J1939 - case socket_type::J1939_ADDR_CLAIM: + else if(flags&J1939_ADDR_CLAIM_PROTOCOL) { pgn_t pgn = J1939_NO_PGN; if(!bus_name.empty()) @@ -279,9 +276,8 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co subscription.socket_ = socket; } subscription.index_ = (int)subscription.socket_->socket(); - break; } - case socket_type::J1939: + else if(flags&J1939_PROTOCOL) { pgn_t pgn = J1939_NO_PGN; if(subscription.signal_ != nullptr) @@ -298,15 +294,12 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co subscription.socket_ = socket; } subscription.index_ = (int)subscription.socket_->socket(); - break; } #endif - default: + else { AFB_ERROR("Socket format not supported"); return INVALID_SOCKET; - break; - } } } else{ @@ -373,7 +366,7 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc subscription.signal_= sig; // Make sure that socket is opened. - if(open_socket(subscription,"",socket_type::J1939) < 0) + if(open_socket(subscription,"",J1939_PROTOCOL) < 0) { return -1; } @@ -387,7 +380,7 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc /// @return 0 if ok else -1 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig) { - uint32_t flags; + uint32_t flags_bcm; float val; struct timeval freq, timeout = {0, 0}; struct canfd_frame cfd; @@ -414,21 +407,33 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri if (is_fd) { - flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; + flags_bcm = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; cfd.len = CANFD_MAX_DLEN; - cm = can_message_t(CANFD_MAX_DLEN,sig->get_message()->get_id(),length_msg,sig->get_message()->get_format(),false,CAN_FD_FRAME,data,0); + cm = can_message_t( CANFD_MAX_DLEN, + sig->get_message()->get_id(), + length_msg, + false, + sig->get_message()->get_flags(), + data, + 0); } else { - flags = SETTIMER|RX_NO_AUTOTIMER; + flags_bcm = SETTIMER|RX_NO_AUTOTIMER; cfd.len = CAN_MAX_DLEN; - cm = can_message_t(CAN_MAX_DLEN,sig->get_message()->get_id(),length_msg,sig->get_message()->get_format(),false,0,data,0); + cm = can_message_t( CAN_MAX_DLEN, + sig->get_message()->get_id(), + length_msg, + false, + sig->get_message()->get_flags(), + data, + 0); } frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency); freq = f.get_timeval_from_period(); - struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags, timeout, freq); + struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags_bcm, timeout, freq); std::vector<canfd_frame> cfd_vect = cm.convert_to_canfd_frame_vector(); @@ -499,7 +504,7 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_ int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg) { // Make sure that socket is opened. - if(subscription.open_socket(subscription,"",socket_type::BCM) < 0) + if(subscription.open_socket(subscription,"",BCM_PROTOCOL) < 0) {return -1;} // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job @@ -542,7 +547,7 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag std::vector<canfd_frame> cfd_vect = cm->convert_to_canfd_frame_vector(); - if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0) + if(subscription.open_socket(subscription, bus_name, BCM_PROTOCOL) < 0) { return -1; } @@ -586,7 +591,7 @@ int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, mes //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id); //subscription.add_one_bcm_frame(cfd, bcm_msg); - if(subscription.open_socket(subscription, bus_name, socket_type::J1939) < 0) + if(subscription.open_socket(subscription, bus_name, J1939_PROTOCOL) < 0) { return -1; } diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp index b5d4f7aa..b152e4b2 100644 --- a/low-can-binding/binding/low-can-subscription.hpp +++ b/low-can-binding/binding/low-can-subscription.hpp @@ -95,7 +95,7 @@ public: static void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg); static void remove_last_bcm_frame(struct bcm_msg& bcm_msg); - static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "", socket_type type = socket_type::INVALID); + static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "", uint32_t flags = INVALID_FLAG); int create_rx_filter(std::shared_ptr<signal_t> sig); int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig); 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; diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp index ad1f3a7f..5242c5bb 100644 --- a/low-can-binding/diagnostic/diagnostic-manager.cpp +++ b/low-can-binding/diagnostic/diagnostic-manager.cpp @@ -526,7 +526,7 @@ openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(std::shared_ptr< /// @return True if the active diagnostic request match the response. bool diagnostic_manager_t::is_diagnostic_response(std::shared_ptr<message_t> m) { - if(m->get_msg_format() == message_format_t::STANDARD || m->get_msg_format() == message_format_t::EXTENDED) + if(m->get_flags()&STANDARD_ID || m->get_flags()&EXTENDED_ID) { if (m->get_id() >= 0x7e8 && m->get_id() <= 0x7ef) return true; diff --git a/low-can-binding/utils/socketcan-j1939/socketcan-j1939.cpp b/low-can-binding/utils/socketcan-j1939/socketcan-j1939.cpp index bb74c766..fdcfe3be 100644 --- a/low-can-binding/utils/socketcan-j1939/socketcan-j1939.cpp +++ b/low-can-binding/utils/socketcan-j1939/socketcan-j1939.cpp @@ -256,7 +256,7 @@ namespace utils */ int socketcan_j1939_t::write_j1939_message(pgn_t pgn, std::vector<uint8_t> &data, uint32_t len_data) { - j1939_message_t msg = j1939_message_t(J1939_MAX_DLEN, len_data, message_format_t::J1939, data, 0, 0, pgn, 0); + j1939_message_t msg = j1939_message_t(len_data, data, 0, 0, pgn, 0); msg.set_sockname(pgn,J1939_NO_NAME,J1939_NO_ADDR); return write_message(msg); } diff --git a/low-can-binding/utils/socketcan.hpp b/low-can-binding/utils/socketcan.hpp index 2a7077eb..6391d011 100644 --- a/low-can-binding/utils/socketcan.hpp +++ b/low-can-binding/utils/socketcan.hpp @@ -28,17 +28,6 @@ #define INVALID_SOCKET -1 -/** - * @enum socket_type - * @brief The type of socket - */ -enum class socket_type { - BCM, ///< BCM - Socket BCM - J1939_ADDR_CLAIM, ///< J1939 - Socket J1939 - J1939, ///< J1939 - Socket J1939 - INVALID -}; - namespace utils { |