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Diffstat (limited to 'src/can-message.hpp')
| -rw-r--r-- | src/can-message.hpp | 205 |
1 files changed, 205 insertions, 0 deletions
diff --git a/src/can-message.hpp b/src/can-message.hpp new file mode 100644 index 00000000..f076c5ce --- /dev/null +++ b/src/can-message.hpp @@ -0,0 +1,205 @@ +/* + * Copyright (C) 2015, 2016 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#pragma once + +#include <string> +#include <cstdint> +#include <linux/can.h> + +#include "timer.hpp" + +#define CAN_MESSAGE_SIZE 8 + +/** + * @enum CanMessageFormat + * @brief The ID format for a CAN message. + */ +enum CanMessageFormat { + STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */ + EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ + ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/ +}; +typedef enum CanMessageFormat CanMessageFormat; + +/** + * @class can_message_t + * + * @brief A compact representation of a single CAN message, meant to be used in in/out + * buffers. + */ + +/************************* + * old CanMessage struct * + ************************* +struct CanMessage { + uint32_t id; + CanMessageFormat format; + uint8_t data[CAN_MESSAGE_SIZE]; + uint8_t length; +}; +typedef struct CanMessage CanMessage; +*/ +class can_message_t { + private: + uint32_t id_; /*!< uint32_t id - The ID of the message. */ + uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */ + CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/ + uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ + + public: + /** + * @brief Class constructor + * + * Constructor about can_message_t class. + */ + can_message_t(); + + /** + * @brief Retrieve id_ member value. + * + * @return uint32_t id_ class member + */ + uint32_t get_id() const; + + /** + * @brief Retrieve format_ member value. + * + * @return CanMessageFormat format_ class member + */ + int get_format() const; + + /** + * @brief Retrieve data_ member value. + * + * @return uint8_t data_ pointer class member + */ + const uint8_t* get_data() const; + + /** + * @brief Retrieve length_ member value. + * + * @return uint8_t length_ class member + */ + uint8_t get_length() const; + + /** + * @brief Control whether the object is correctly initialized + * to be sent over the CAN bus + * + * @return true if object correctly initialized and false if not... + */ + bool is_correct_to_send(); + + /** + * @brief Set id_ member value. + * + * Preferred way to initialize these members by using + * convert_from_canfd_frame method. + * + * @param uint32_t id_ class member + */ + void set_id(const uint32_t new_id); + + /** + * @brief Set format_ member value. + * + * Preferred way to initialize these members by using + * convert_from_canfd_frame method. + * + * @param CanMessageFormat format_ class member + */ + void set_format(const CanMessageFormat format); + + /** + * @brief Set data_ member value. + * + * Preferred way to initialize these members by using + * convert_from_canfd_frame method. + * + * @param uint8_t data_ array with a max size of 8 elements. + */ + void set_data(const uint8_t new_data); + + /** + * @brief Set length_ member value. + * + * Preferred way to initialize these members by using + * convert_from_canfd_frame method. + * + * @param uint8_t length_ array with a max size of 8 elements. + */ + void set_length(const uint8_t new_length); + + /** + * @brief Take a canfd_frame struct to initialize class members + * + * This is the preferred way to initialize class members. + * + * @param canfd_frame struct read from can bus device. + */ + void convert_from_canfd_frame(const canfd_frame& frame); + + /** + * @brief Take all initialized class's members and build an + * canfd_frame struct that can be use to send a CAN message over + * the bus. + * + * @return canfd_frame struct built from class members. + */ + canfd_frame convert_to_canfd_frame(); +}; + +/** + * @struct CanMessageDefinition + * + * @brief The definition of a CAN message. This includes a lot of metadata, so + * to save memory this struct should not be used for storing incoming and + * outgoing CAN messages. + */ +struct CanMessageDefinition { + //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */ + uint32_t id; /*!< id - The ID of the message.*/ + CanMessageFormat format; /*!< format - the format of the message's ID.*/ + FrequencyClock frequencyClock; /*!< 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 retriec++ if ? syntaxve.*/ + bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN + * message if it has changed when using raw passthrough.*/ + uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined. + * This is required for the forceSendChanged functionality, as the stack + * needs to compare an incoming CAN message with the previous frame.*/ +}; +typedef struct CanMessageDefinition CanMessageDefinition; + +/** + * @struct CanMessageSet + * + * @brief A parent wrapper for a particular set of CAN messages and associated + * CAN buses(e.g. a vehicle or program). + */ + typedef struct { + uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array + * for fast lookup*/ + const std::string name; /*!< name - The name of the message set.*/ + uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/ + unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for + * this message set.*/ + unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for + * this message set.*/ + unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/ +} CanMessageSet;
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