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-rw-r--r--src/can/can-message.cpp313
1 files changed, 313 insertions, 0 deletions
diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp
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+/*
+ * 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.
+ */
+
+#include "can-message.hpp"
+
+#include <cstring>
+
+#include "low-can-binding.hpp"
+
+/********************************************************************************
+*
+* CanMessage method implementation
+*
+*********************************************************************************/
+/**
+* @brief Class constructor
+*
+* Constructor about can_message_t class.
+*/
+can_message_t::can_message_t()
+ : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}
+{}
+
+/**
+* @brief Retrieve id_ member value.
+*
+* @return uint32_t id_ class member
+*/
+uint32_t can_message_t::get_id() const
+{
+ return id_;
+}
+
+/**
+* @brief Retrieve RTR flag member.
+*
+* @return bool rtr_flags_ class member
+*/
+bool can_message_t::get_rtr_flag_() const
+{
+ return rtr_flag_;
+}
+
+/**
+* @brief Retrieve format_ member value.
+*
+* @return CanMessageFormat format_ class member
+*/
+int can_message_t::get_format() const
+{
+ if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
+ return CanMessageFormat::ERROR;
+ return format_;
+}
+
+/**
+* @brief Retrieve format_ member value.
+*
+* @return CanMessageFormat format_ class member
+*/
+uint8_t can_message_t::get_flags() const
+{
+ return flags_;
+}
+
+/**
+* @brief Retrieve data_ member value.
+*
+* @return uint8_t data_ pointer to the first element
+* of class member data_
+*/
+const uint8_t* can_message_t::get_data() const
+{
+ return data_.data();
+}
+
+/**
+* @brief Retrieve length_ member value.
+*
+* @return uint8_t length_ class member
+*/
+uint8_t can_message_t::get_length() const
+{
+ return length_;
+}
+
+void can_message_t::set_max_data_length(size_t nbytes)
+{
+ maxdlen_ = 0;
+
+ switch(nbytes)
+ {
+ case CANFD_MTU:
+ DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
+ maxdlen_ = CANFD_MAX_DLEN;
+ break;
+ case CAN_MTU:
+ DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
+ maxdlen_ = CAN_MAX_DLEN;
+ break;
+ default:
+ ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
+ break;
+ }
+}
+
+/**
+* @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 can_message_t::is_correct_to_send()
+{
+ if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
+ {
+ int i;
+ for(i=0;i<CAN_MESSAGE_SIZE;i++)
+ if(data_[i] != 0)
+ return true;
+ }
+ return false;
+}
+
+/**
+* @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 can_message_t::set_id_and_format(const uint32_t new_id)
+{
+ set_format(new_id);
+ switch(format_)
+ {
+ case CanMessageFormat::STANDARD:
+ id_ = new_id & CAN_SFF_MASK;
+ break;
+ case CanMessageFormat::EXTENDED:
+ id_ = new_id & CAN_EFF_MASK;
+ break;
+ case CanMessageFormat::ERROR:
+ id_ = new_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ break;
+ default:
+ ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+ break;
+ }
+}
+
+/**
+* @brief Set format_ member value.
+*
+* Preferred way to initialize these members by using
+* convert_from_canfd_frame method.
+*
+* @param CanMessageFormat format_ class member
+*/
+void can_message_t::set_format(const CanMessageFormat new_format)
+{
+ if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED || new_format == CanMessageFormat::ERROR)
+ format_ = new_format;
+ else
+ ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
+}
+
+/**
+* @brief Set format_ member value. Deducing from the can_id
+* of a canfd_frame.
+*
+* Preferred way to initialize these members by using
+* convert_from_canfd_frame method.
+*
+* @param uint32_t can_id integer from a canfd_frame
+*/
+void can_message_t::set_format(const uint32_t can_id)
+{
+ if (can_id & CAN_ERR_FLAG)
+ format_ = CanMessageFormat::ERROR;
+ else if (can_id & CAN_EFF_FLAG)
+ format_ = CanMessageFormat::EXTENDED;
+ else
+ format_ = CanMessageFormat::STANDARD;
+}
+
+/**
+* @brief Set format_ member value.
+*
+* Preferred way to initialize these members by using
+* convert_from_canfd_frame method.
+*
+* @param CanMessageFormat format_ class member
+*/
+void can_message_t::set_flags(const uint8_t flags)
+{
+ flags_ = flags & 0xF;
+}
+
+/**
+* @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 can_message_t::set_length(const uint8_t new_length)
+{
+ if(rtr_flag_)
+ length_ = new_length & 0xF;
+ else
+ {
+ length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
+ }
+}
+
+/**
+* @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 can_message_t::set_data(const __u8* new_data)
+{
+ 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(new_data[i]);
+ }
+}
+
+/**
+* @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 can_message_t::convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args)
+{
+ // May be it's overkill to assign member of the pair... May be it will change...
+ struct canfd_frame frame = args.first;
+ size_t nbytes = args.second;
+ set_max_data_length(nbytes);
+ set_length(frame.len);
+ set_id_and_format(frame.can_id);
+
+ /* Overwrite lenght_ 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.len && frame.len <= CAN_MAX_DLC)
+ set_length(frame.len);
+ return;
+ }
+
+ /* Flags field only present for CAN FD frames*/
+ if(maxdlen_ == CANFD_MAX_DLEN)
+ set_flags(frame.flags);
+
+ if ( data_.capacity() < maxdlen_)
+ data_.reserve(maxdlen_);
+ set_data(frame.data);
+
+ DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", id_, format_, length_,
+ data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
+}
+
+/**
+* @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 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
+ ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
+
+ return frame;
+}
+