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Diffstat (limited to 'src/can/can-message.hpp')
| -rw-r--r-- | src/can/can-message.hpp | 151 |
1 files changed, 151 insertions, 0 deletions
diff --git a/src/can/can-message.hpp b/src/can/can-message.hpp new file mode 100644 index 00000000..9f6a36da --- /dev/null +++ b/src/can/can-message.hpp @@ -0,0 +1,151 @@ +/* + * 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 <vector> +#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. */ + bool rtr_flag_; /*!< bool rtr_flag - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ + uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */ + uint8_t flags_; /*!< unint8_t flags of a CAN FD frame. Needed if we catch FD frames.*/ + CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/ + std::vector<uint8_t> data_; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ + + uint8_t maxdlen_; + + public: + can_message_t(); + + uint32_t get_id() const; + bool get_rtr_flag_() const; + int get_format() const; + uint8_t get_flags() const; + const uint8_t* get_data() const; + uint8_t get_length() const; + + void set_max_data_length(size_t nbytes); + void set_id_and_format(const uint32_t new_id); + void set_format(const CanMessageFormat new_format); + void set_format(const uint32_t can_id); + void set_flags(const uint8_t flags); + void set_data(const __u8* new_data); + void set_length(const uint8_t new_length); + + bool is_correct_to_send(); + + void convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args); + 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; + +/** Public: Return the currently active CAN configuration. */ +CanMessageSet* getActiveMessageSet(); + +/** Public: Retrive a list of all possible CAN configurations. + * + * Returns a pointer to an array of all configurations. + */ +CanMessageSet* getMessageSets(); + +/** Public: Return the length of the array returned by getMessageSets() */ +int getMessageSetCount(); + +/* Public: Return an array of all CAN messages to be processed in the active + * configuration. + */ +CanMessageDefinition* getMessages(); + +/* Public: Return the length of the array returned by getMessages(). */ +int getMessageCount();
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