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-rw-r--r--low-can-binding/binding/application-generated.cpp48
-rw-r--r--low-can-binding/binding/low-can-cb.cpp63
-rw-r--r--low-can-binding/binding/low-can-socket.cpp75
-rw-r--r--low-can-binding/binding/low-can-socket.hpp10
-rw-r--r--low-can-binding/can/can-encoder.cpp11
-rw-r--r--low-can-binding/can/can-encoder.hpp2
-rw-r--r--low-can-binding/can/can-message-definition.cpp7
-rw-r--r--low-can-binding/can/can-message-definition.hpp10
-rw-r--r--low-can-binding/can/can-message.cpp121
-rw-r--r--low-can-binding/can/can-message.hpp4
-rw-r--r--low-can-binding/diagnostic/diagnostic-manager.cpp19
-rw-r--r--low-can-binding/utils/socketcan-bcm.cpp25
-rw-r--r--low-can-binding/utils/socketcan-bcm.hpp25
13 files changed, 187 insertions, 233 deletions
diff --git a/low-can-binding/binding/application-generated.cpp b/low-can-binding/binding/application-generated.cpp
index 5a67d86e..1b0a3506 100644
--- a/low-can-binding/binding/application-generated.cpp
+++ b/low-can-binding/binding/application-generated.cpp
@@ -7,7 +7,13 @@ application_t::application_t()
, can_message_set_{
{std::make_shared<can_message_set_t>(can_message_set_t{0,"AGL Virtual Car",
{ // beginning can_message_definition_ vector
- {std::make_shared<can_message_definition_t>(can_message_definition_t{"ls",0x30,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+ {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "ls",
+ 0x30,
+ false,
+ can_message_format_t::EXTENDED,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"hvac.fan.speed",
@@ -83,7 +89,13 @@ application_t::application_t()
})}
} // end can_signals vector
})} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3D9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+, {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "hs",
+ 0x3D9,
+ true,
+ can_message_format_t::STANDARD,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"engine.speed",
@@ -141,7 +153,13 @@ application_t::application_t()
})}
} // end can_signals vector
})} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3E9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+, {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "hs",
+ 0x3E9,
+ false,
+ can_message_format_t::EXTENDED,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"vehicle.average.speed",
@@ -163,7 +181,13 @@ application_t::application_t()
})}
} // end can_signals vector
})} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x4D1,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+, {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "hs",
+ 0x4D1,
+ false,
+ can_message_format_t::STANDARD,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"engine.oil.temp",
@@ -203,7 +227,13 @@ application_t::application_t()
})}
} // end can_signals vector
})} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x620,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+, {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "hs",
+ 0x620,
+ false,
+ can_message_format_t::STANDARD,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"doors.boot.open",
@@ -297,7 +327,13 @@ application_t::application_t()
})}
} // end can_signals vector
})} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x799,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+, {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "hs",
+ 0x799,
+ false,
+ can_message_format_t::STANDARD,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"windows.front_left.open",
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index 3cb61c6c..098f0715 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -407,7 +407,7 @@ void unsubscribe(afb_req_t request)
do_subscribe_unsubscribe(request, false);
}
-static int send_frame(const std::string& bus_name, const struct can_frame& cf)
+static int send_frame(struct canfd_frame& cfd, const std::string& bus_name)
{
if(bus_name.empty()) {
return -1;
@@ -418,57 +418,54 @@ static int send_frame(const std::string& bus_name, const struct can_frame& cf)
if( cd.count(bus_name) == 0)
{cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
- return cd[bus_name]->tx_send(cf, bus_name);
+ return cd[bus_name]->tx_send(cfd, bus_name);
}
static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
{
- struct can_frame cf;
- struct json_object *json_can_data = nullptr;
+ struct canfd_frame cfd;
+ struct json_object *can_data = nullptr;
- ::memset(&cf, 0, sizeof(cf));
+ ::memset(&cfd, 0, sizeof(cfd));
- if(! wrap_json_unpack(json_value, "{sF, sF, so !}",
- "can_id", &cf.can_id,
- "can_dlc", &cf.can_dlc,
- "can_data", &json_can_data))
+ if(wrap_json_unpack(json_value, "{si, si, so !}",
+ "can_id", &cfd.can_id,
+ "can_dlc", &cfd.len,
+ "can_data", &can_data))
{
- struct json_object *one_can_data;
- size_t n = json_object_array_length(json_can_data);
+ afb_req_fail(request, "Invalid", "Frame object malformed");
+ return;
+ }
- if(n <= 8 && n > 0)
- {
- for (int i = 0 ; i < n ; i++)
- {
- one_can_data = json_object_array_get_idx(json_can_data, i);
- cf.data[i] = json_object_get_type(one_can_data) == json_type_int ? (uint8_t)json_object_get_int(one_can_data) : 0;
- }
- }
- else
+ if(cfd.len <= 8 && cfd.len > 0)
+ {
+ for (int i = 0 ; i < cfd.len ; i++)
{
- afb_req_fail(request, "Error", "Data array must hold 1 to 8 values.");
- return;
+ struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
+ cfd.data[i] = (json_object_is_type(one_can_data, json_type_int)) ?
+ (uint8_t)json_object_get_int(one_can_data) : 0;
}
-
- if(! send_frame(application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), cf))
- afb_req_success(request, nullptr, "Message correctly sent");
- else
- afb_req_fail(request, "Error", "sending the message. See the log for more details.");
-
+ }
+ else
+ {
+ afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
return;
}
- afb_req_fail(request, "Error", "Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
+ if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name)))
+ afb_req_success(request, nullptr, "Message correctly sent");
+ else
+ afb_req_fail(request, "Error", "sending the message. See the log for more details.");
}
static void write_signal(afb_req_t request, const std::string& name, json_object *json_value)
{
- struct can_frame cf;
+ struct canfd_frame cfd;
struct utils::signals_found sf;
signal_encoder encoder = nullptr;
bool send = true;
- ::memset(&cf, 0, sizeof(cf));
+ ::memset(&cfd, 0, sizeof(cfd));
openxc_DynamicField search_key = build_DynamicField(name);
sf = utils::signals_manager_t::instance().find_signals(search_key);
@@ -491,8 +488,8 @@ 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);
- if(! send_frame(sig->get_message()->get_bus_device_name(), encoder_t::build_frame(sig, value)) &&
- send)
+ cfd = encoder_t::build_frame(sig, value);
+ if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send)
afb_req_success(request, nullptr, "Message correctly sent");
else
afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp
index db9b164b..cd827b6b 100644
--- a/low-can-binding/binding/low-can-socket.cpp
+++ b/low-can-binding/binding/low-can-socket.cpp
@@ -185,11 +185,11 @@ int low_can_socket_t::open_socket(const std::string& bus_name)
/// @brief Builds a BCM message head but doesn't set can_frame.
///
-/// @returns a simple_bcm_msg with the msg_head parts set and can_frame
+/// @returns a bcm_msg with the msg_head parts set and can_frame
/// zeroed.
-struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
+struct utils::bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
{
- struct utils::simple_bcm_msg bcm_msg;
+ struct utils::bcm_msg bcm_msg;
::memset(&bcm_msg, 0, sizeof(bcm_msg));
bcm_msg.msg_head.opcode = opcode;
@@ -203,13 +203,23 @@ struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, ui
return bcm_msg;
}
-/// @brief Take an existing simple_bcm_msg struct and add a can_frame.
+/// @brief Take an existing bcm_msg struct and add a can_frame.
/// Currently only 1 uniq can_frame can be added, it's not possible to build
/// a multiplexed message with several can_frame.
-void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const
+void low_can_socket_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const
{
+ struct can_frame cf;
+
+ if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
+ bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
+ else
+ {
+ cf.can_id = cfd.can_id;
+ cf.can_dlc = cfd.len;
+ ::memcpy(&cf.data, cfd.data, cfd.len);
+ bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
+ }
bcm_msg.msg_head.nframes++;
- bcm_msg.frames = cf;
}
/// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
@@ -218,26 +228,37 @@ void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::s
/// @return 0 if ok else -1
int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
{
+ uint32_t flags;
+ float val;
+ struct timeval freq, timeout = {0, 0};
+ struct canfd_frame cfd;
can_signal_= sig;
- struct can_frame cfd;
- memset(&cfd, 0, sizeof(cfd));
-
- float val = (float)(1 << can_signal_->get_bit_size()) - 1;
- bitfield_encode_float(val,
- can_signal_->get_bit_position(),
- can_signal_->get_bit_size(),
- can_signal_->get_factor(),
- can_signal_->get_offset(),
- cfd.data,
- CAN_MAX_DLEN);
+ if (sig->get_message()->is_fd())
+ {
+ flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
+ cfd.len = CANFD_MAX_DLEN;
+ }
+ else
+ {
+ flags = SETTIMER|RX_NO_AUTOTIMER;
+ cfd.len = CAN_MAX_DLEN;
+ }
+ val = (float)(1 << can_signal_->get_bit_size()) - 1;
+ if(! bitfield_encode_float(val,
+ can_signal_->get_bit_position(),
+ can_signal_->get_bit_size(),
+ 1,
+ can_signal_->get_offset(),
+ cfd.data,
+ cfd.len))
+ return -1;
- struct timeval freq, timeout = {0, 0};
frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
freq = f.get_timeval_from_period();
- utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
- add_bcm_frame(cfd, bcm_msg);
+ utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), flags, timeout, freq);
+ add_one_bcm_frame(cfd, bcm_msg);
return create_rx_filter(bcm_msg);
}
@@ -254,19 +275,19 @@ int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig
//struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
struct timeval timeout = {0,0};
- utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
+ utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
return create_rx_filter(bcm_msg);
}
/// @brief Create a RX_SETUP receive job used by the BCM socket directly from
-/// a simple_bcm_msg. The method should not be used directly but rather through the
+/// a bcm_msg. The method should not be used directly but rather through the
/// two previous method with can_signal_t or diagnostic_message_t object.
///
/// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
/// to the 8 classics OBD2 functional response ID
///
/// @return 0 if ok else -1
-int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
+int low_can_socket_t::create_rx_filter(utils::bcm_msg& bcm_msg)
{
// Make sure that socket is opened.
if(open_socket() < 0)
@@ -299,12 +320,10 @@ int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
/// send a message
///
/// @return 0 if ok else -1
-int low_can_socket_t::tx_send(const struct can_frame& cf, const std::string& bus_name)
+int low_can_socket_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name)
{
- can_signal_ = nullptr;
-
- utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND);
- add_bcm_frame(cf, bcm_msg);
+ utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id);
+ add_one_bcm_frame(cfd, bcm_msg);
if(open_socket(bus_name) < 0)
{return -1;}
diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp
index 48ed47f9..d46f1f8c 100644
--- a/low-can-binding/binding/low-can-socket.hpp
+++ b/low-can-binding/binding/low-can-socket.hpp
@@ -25,6 +25,8 @@
#include "../diagnostic/diagnostic-message.hpp"
#include "../utils/socketcan-bcm.hpp"
+#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
+
/// @brief Filtering values. Theses values have to be tested in
/// can_bus_t::apply_filter method.
struct event_filter_t
@@ -81,14 +83,14 @@ public:
void set_min(float min);
void set_max(float max);
- struct utils::simple_bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
- void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
+ struct utils::bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
+ void add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const;
int open_socket(const std::string& bus_name = "");
int create_rx_filter(std::shared_ptr<can_signal_t> sig);
int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
- int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
+ int create_rx_filter(utils::bcm_msg& bcm_msg);
- int tx_send(const struct can_frame& cf, const std::string& bus_name);
+ int tx_send(struct canfd_frame& cfd, const std::string& bus_name);
};
diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp
index 4f1efa2a..4b8a2963 100644
--- a/low-can-binding/can/can-encoder.cpp
+++ b/low-can-binding/can/can-encoder.cpp
@@ -28,14 +28,15 @@
/// @param[out] data - The destination buffer.
/// @param[in] length - The length of the destination buffer.
///
-/// @return Returns a can_frame struct initialized and ready to be send.
-const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value)
+/// @return Returns a canfd_frame struct initialized and ready to be send.
+const canfd_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value)
{
- struct can_frame cf;
+ struct canfd_frame cf;
::memset(&cf, 0, sizeof(cf));
cf.can_id = signal->get_message()->get_id();
- cf.can_dlc = CAN_MAX_DLEN;
+ cf.len = signal->get_message()->is_fd() ?
+ CANFD_MAX_DLEN : CAN_MAX_DLEN;
signal->set_last_value((float)value);
@@ -48,7 +49,7 @@ const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& sign
sig->get_factor(),
sig->get_offset(),
cf.data,
- CAN_MAX_DLEN);
+ cf.len);
}
return cf;
diff --git a/low-can-binding/can/can-encoder.hpp b/low-can-binding/can/can-encoder.hpp
index c79e2245..f8398836 100644
--- a/low-can-binding/can/can-encoder.hpp
+++ b/low-can-binding/can/can-encoder.hpp
@@ -24,7 +24,7 @@
class encoder_t
{
public:
- static const can_frame build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value);
+ static const canfd_frame build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value);
static uint64_t encode_state(const can_signal_t& signal, const std::string& value, bool* send);
static uint64_t encode_boolean(const can_signal_t& signal, bool value, bool* send);
static uint64_t encode_number(const can_signal_t& signal, float value, bool* send);
diff --git a/low-can-binding/can/can-message-definition.cpp b/low-can-binding/can/can-message-definition.cpp
index 28d45fe5..ae957d14 100644
--- a/low-can-binding/can/can-message-definition.cpp
+++ b/low-can-binding/can/can-message-definition.cpp
@@ -54,6 +54,7 @@ can_message_definition_t::can_message_definition_t(
can_message_definition_t::can_message_definition_t(
const std::string bus,
uint32_t id,
+ bool is_fd,
can_message_format_t format,
frequency_clock_t frequency_clock,
bool force_send_changed,
@@ -61,6 +62,7 @@ can_message_definition_t::can_message_definition_t(
: parent_{nullptr},
bus_{bus},
id_{id},
+ is_fd_(is_fd),
format_{format},
frequency_clock_{frequency_clock},
force_send_changed_{force_send_changed},
@@ -84,6 +86,11 @@ uint32_t can_message_definition_t::get_id() const
return id_;
}
+bool can_message_definition_t::is_fd() const
+{
+ return is_fd_;
+}
+
std::vector<std::shared_ptr<can_signal_t> >& can_message_definition_t::get_can_signals()
{
return can_signals_;
diff --git a/low-can-binding/can/can-message-definition.hpp b/low-can-binding/can/can-message-definition.hpp
index 6d0f17d6..b9025cbb 100644
--- a/low-can-binding/can/can-message-definition.hpp
+++ b/low-can-binding/can/can-message-definition.hpp
@@ -43,6 +43,7 @@ private:
can_message_set_t* parent_; ///< parent_ - Pointer to the CAN message set holding this CAN message definition */
std::string bus_; ///< bus_ - Address of CAN bus device. */
uint32_t id_; ///< id_ - The ID of the message.*/
+ bool is_fd_; /*!< uses_fd_ - Flags to enable an FD CAN message communication*/
can_message_format_t format_; ///< 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
@@ -59,11 +60,18 @@ public:
can_message_definition_t(const std::string bus);
can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed);
can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
- can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<can_signal_t> >& can_signals);
+ can_message_definition_t(const std::string bus,
+ uint32_t id,
+ bool is_fd,
+ can_message_format_t format,
+ frequency_clock_t frequency_clock,
+ bool force_send_changed,
+ const std::vector<std::shared_ptr<can_signal_t> >& can_signals);
const std::string get_bus_name() const;
const std::string get_bus_device_name() const;
uint32_t get_id() const;
+ bool is_fd() const;
std::vector<std::shared_ptr<can_signal_t> >& get_can_signals();
void set_parent(can_message_set_t* parent);
diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp
index 1b27d0f6..9ec35668 100644
--- a/low-can-binding/can/can-message.cpp
+++ b/low-can-binding/can/can-message.cpp
@@ -266,124 +266,3 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame,
return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
}
-
-/// @brief Take a can_frame struct to initialize class members
-///
-/// This is the preferred way to initialize class members.
-///
-/// @param[in] frame - can_frame to convert coming from a read of CAN socket
-/// @param[in] nbytes - bytes read from socket read operation.
-///
-/// @return A can_message_t object fully initialized with can_frame values.
-can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
-{
- uint8_t maxdlen = 0, length = 0, flags = 0;
- uint32_t id;
- can_message_format_t format;
- bool rtr_flag;
- std::vector<uint8_t> data;
-
- if(nbytes <= CAN_MTU)
- {
- AFB_DEBUG("Got a legacy CAN frame");
- maxdlen = CAN_MAX_DLEN;
- }
- else
- {
- AFB_ERROR("unsupported CAN frame");
- }
-
- if (frame.can_id & CAN_ERR_FLAG)
- {
- format = can_message_format_t::INVALID;
- id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- }
- else if (frame.can_id & CAN_EFF_FLAG)
- {
- format = can_message_format_t::EXTENDED;
- id = frame.can_id & CAN_EFF_MASK;
- }
- else
- {
- format = can_message_format_t::STANDARD;
- id = frame.can_id & CAN_SFF_MASK;
- }
-
- /* Overwrite length_ if RTR flags is detected.
- * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
- if (frame.can_id & CAN_RTR_FLAG)
- {
- rtr_flag = true;
- if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
- {
- if(rtr_flag)
- length = frame.can_dlc& 0xF;
- else
- {
- length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
- }
- }
- }
- else
- {
- length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
-
- if (data.capacity() < maxdlen)
- data.reserve(maxdlen);
- int i;
-
- data.clear();
- /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
- for(i=0;i<maxdlen;i++)
- {
- data.push_back(frame.data[i]);
- };
-
-// AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
-// id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
- }
-
- return 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 = 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 = get_length();
- ::memcpy(frame.data, get_data(), length_);
- }
- else
- AFB_ERROR("can_message_t not correctly initialized to be sent");
-
- return frame;
-}
diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/can-message.hpp
index b206ebdb..cf960b95 100644
--- a/low-can-binding/can/can-message.hpp
+++ b/low-can-binding/can/can-message.hpp
@@ -73,8 +73,4 @@ public:
bool is_correct_to_send();
static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
- static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp);
-
- struct canfd_frame convert_to_canfd_frame();
- struct can_frame convert_to_can_frame();
};
diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp
index bc335dfc..8932f250 100644
--- a/low-can-binding/diagnostic/diagnostic-manager.cpp
+++ b/low-can-binding/diagnostic/diagnostic-manager.cpp
@@ -102,27 +102,26 @@ bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8
// Make sure that socket has been opened.
if(! tx_socket)
- tx_socket.open(
- dm.get_bus_device_name());
+ tx_socket.open(dm.get_bus_device_name());
- struct utils::simple_bcm_msg bcm_msg;
- struct can_frame cfd;
-
- memset(&cfd, 0, sizeof(cfd));
- memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
+ struct utils::bcm_msg bcm_msg;
+ struct can_frame cf;
struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
bcm_msg.msg_head.opcode = TX_SETUP;
bcm_msg.msg_head.can_id = arbitration_id;
bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
+ bcm_msg.msg_head.count = 0;
bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
bcm_msg.msg_head.nframes = 1;
- cfd.can_dlc = size;
- ::memcpy(cfd.data, data, size);
+ cf.can_dlc = size;
+
+ ::memset(cf.data, 0, sizeof(cf.data));
+ ::memcpy(cf.data, data, size);
- bcm_msg.frames = cfd;
+ bcm_msg.frames[0] = cf;
tx_socket << bcm_msg;
if(tx_socket)
diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp
index 750e772d..d1fd8e0a 100644
--- a/low-can-binding/utils/socketcan-bcm.cpp
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -72,7 +72,7 @@ namespace utils
/// then CAN message will be zeroed and must be handled later.
socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
{
- struct utils::simple_bcm_msg msg;
+ struct utils::bcm_msg msg;
::memset(&msg, 0, sizeof(msg));
const struct sockaddr_can& addr = s.get_tx_address();
@@ -85,17 +85,30 @@ namespace utils
long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
AFB_DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
- AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc,
- msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]);
struct timeval tv;
ioctl(s.socket(), SIOCGSTAMP, &tv);
uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
- cm = ::can_message_t::convert_from_frame(msg.frames ,
- frame_size,
- timestamp);
+ cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
cm.set_sub_id((int)s.socket());
return s;
}
+
+ socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct utils::bcm_msg>& vobj)
+ {
+ for(const auto& obj : vobj)
+ s << obj;
+ return s;
+ }
+
+ socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct utils::bcm_msg& obj)
+ {
+ size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ?
+ (size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
+ (size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
+ if (::sendto(s.socket(), &obj, size, 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
+ AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
+ return s;
+ }
}
diff --git a/low-can-binding/utils/socketcan-bcm.hpp b/low-can-binding/utils/socketcan-bcm.hpp
index 22927cb6..478a5292 100644
--- a/low-can-binding/utils/socketcan-bcm.hpp
+++ b/low-can-binding/utils/socketcan-bcm.hpp
@@ -20,24 +20,20 @@
#include "socketcan.hpp"
#include "../can/can-message.hpp"
+#define MAX_BCM_CAN_FRAMES 257
+
namespace utils
{
- struct simple_bcm_msg
- {
- struct bcm_msg_head msg_head;
- struct can_frame frames;
- };
-
-#ifdef KERNEL_MINIMAL_VERSION_OK
- struct canfd_bcm_msg
+ struct bcm_msg
{
struct bcm_msg_head msg_head;
- struct canfd_frame frames;
- canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
+ union {
+ struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
+ struct can_frame frames[MAX_BCM_CAN_FRAMES];
+ };
};
-#endif
- /// @brief derivated socketcan class specialized for BCM CAN socket.
+ /// @brief derivated socketcan class specialized for BCM CAN socket.make_bcm_head
class socketcan_bcm_t : public socketcan_t
{
public:
@@ -50,6 +46,7 @@ namespace utils
};
socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm);
-// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj);
-// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj);
+
+ socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct bcm_msg>& obj);
+ socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct bcm_msg& obj);
}