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Diffstat (limited to 'src/can/can-message.cpp')
| -rw-r--r-- | src/can/can-message.cpp | 313 |
1 files changed, 313 insertions, 0 deletions
diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp new file mode 100644 index 00000000..ad032021 --- /dev/null +++ b/src/can/can-message.cpp @@ -0,0 +1,313 @@ +/* + * 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; +} + |