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-rw-r--r--src/can-utils.cpp54
-rw-r--r--src/can-utils.hpp126
2 files changed, 145 insertions, 35 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp
index fb6025ce..42763b8f 100644
--- a/src/can-utils.cpp
+++ b/src/can-utils.cpp
@@ -24,32 +24,42 @@
*********************************************************************************/
can_message_t::can_message_t(const struct afb_binding_interface* interface)
- : interface_{interface}
+ : interface_{interface}, id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
{}
uint32_t can_message_t::get_id() const
{
- if (id_ != 0)
- return id_;
- return 0;
+ return id_;
}
int can_message_t::get_format() const
{
if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
- return -1;
+ return CanMessageFormat::ERROR;
return format_;
}
const uint8_t* can_message_t::get_data() const
{
- return &data_;
+ return data_;
}
uint8_t can_message_t::get_length() const
{
return length_;
}
+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;
+}
+
void can_message_t::set_id(const uint32_t new_id)
{
switch(format_)
@@ -76,23 +86,25 @@ void can_message_t::set_format(const CanMessageFormat new_format)
void can_message_t::set_data(const uint8_t new_data)
{
- ::memcpy(&data_, &new_data, sizeof(new_data));
- length_ = sizeof(new_data);
+ if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
+ ERROR(interface_, "Can set data, your data array is too big");
+ else
+ {
+ ::memcpy(&data_, &new_data, sizeof(new_data));
+ length_ = sizeof(new_data);
+ }
}
-/*
- * @brief This is the preferred way to initialize a CanMessage object
- * from a read canfd_frame message.
- *
- * @param: canfd_frame pointer
- */
void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
{
length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
if (frame.can_id & CAN_ERR_FLAG)
+ {
id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ format_ = CanMessageFormat::ERROR;
+ }
else if (frame.can_id & CAN_EFF_FLAG)
{
id_ = frame.can_id & CAN_EFF_MASK;
@@ -114,12 +126,18 @@ canfd_frame can_message_t::convert_to_canfd_frame()
{
canfd_frame frame;
- frame.can_id = get_id();
- frame.len = get_length();
- ::memcpy(frame.data, get_data(), length_);
-
+ if(is_correct_to_send())
+ {
+ frame.can_id = get_id();
+ frame.len = get_length();
+ ::memcpy(frame.data, get_data(), length_);
+ }
+ else
+ ERROR(interface_, "can_message_t not correctly initialized to be sent");
+
return frame;
}
+
/********************************************************************************
*
* can_bus_dev_t method implementation
diff --git a/src/can-utils.hpp b/src/can-utils.hpp
index d945be4c..1fac69e9 100644
--- a/src/can-utils.hpp
+++ b/src/can-utils.hpp
@@ -84,28 +84,31 @@ typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
openxc_DynamicField* value, bool* send);
/**
+ * @enum CanMessageFormat
* @brief The ID format for a CAN message.
- *
- * STANDARD - standard 11-bit CAN arbitration ID.
- * EXTENDED - an extended frame, with a 29-bit arbitration ID.
*/
enum CanMessageFormat {
- STANDARD,
- EXTENDED,
+ 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.
*
- * param[in] uint32_t id - The ID of the message.
- * param[in] CanMessageFormat format - the format of the message's ID.
- * param[in] uint8_t data - The message's data field.
- * @param[in] uint8_t length - the length of the data array (max 8).
-*************************
-* old CanMessage struct *
-*************************
+ * param[in]
+ * param[in]
+ * param[in]
+ * @param[in]
+ */
+
+/*************************
+ * old CanMessage struct *
+ *************************
struct CanMessage {
uint32_t id;
CanMessageFormat format;
@@ -116,26 +119,115 @@ typedef struct CanMessage CanMessage;
*/
class can_message_t {
private:
- const struct afb_binding_interface* interface_;
- uint32_t id_;
- CanMessageFormat format_;
- uint8_t data_;
- uint8_t length_;
+ const struct afb_binding_interface* interface_; /*!< afb_binding_interface interface between daemon and binding */
+
+ 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.
+ *
+ * @param interface - const structafb_binding_interface pointer
+ */
can_message_t(const struct afb_binding_interface* interface);
+ /**
+ * @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();
};