From d2d2620bbb8f0aad0181e67e9f6affc3d6cb4a51 Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Wed, 26 Jun 2019 10:34:04 +0200 Subject: Change can_message_t class usage for new j1939 This commit transforms the class can_message_t as the base class and creates two derived classes: j1939_message_t and can_message_t. Bug-AGL: SPEC-2386 Change-Id: I6d3afd8e4f5abff2cd0ec4e9910bd52a2893de76 Signed-off-by: Arthur Guyader Signed-off-by: Stephane Desneux Signed-off-by: Romain Forlot --- low-can-binding/can/message/can-message.cpp | 194 ++++++++++++++++++++++++++++ 1 file changed, 194 insertions(+) create mode 100644 low-can-binding/can/message/can-message.cpp (limited to 'low-can-binding/can/message/can-message.cpp') diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp new file mode 100644 index 00000000..91f66252 --- /dev/null +++ b/low-can-binding/can/message/can-message.cpp @@ -0,0 +1,194 @@ +/* + * Copyright (C) 2015, 2016 "IoT.bzh" + * Author "Romain Forlot" + * + * 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 + +#include "../../binding/low-can-hat.hpp" + +/// +/// @brief Class constructor +/// +/// can_message_t class constructor. +/// +can_message_t::can_message_t() + : message_t(), + maxdlen_{0}, + id_{0}, + rtr_flag_{false}, + flags_{0} +{} + +can_message_t::can_message_t(uint8_t maxdlen, + uint32_t id, + uint8_t length, + can_message_format_t format, + bool rtr_flag, + uint8_t flags, + std::vector& data, + uint64_t timestamp) + : message_t(length, format, data, timestamp), + maxdlen_{maxdlen}, + id_{id}, + rtr_flag_{rtr_flag}, + flags_{flags} +{} + +/// +/// @brief Retrieve id_ member value. +/// +/// @return id_ class member +/// +uint32_t can_message_t::get_id() const +{ + return id_; +} + + +/// @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_ != can_message_format_t::INVALID) + { + int i; + for(i=0;i can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) +{ + uint8_t maxdlen = 0, length = 0, flags = 0; + uint32_t id; + can_message_format_t format; + bool rtr_flag; + std::vector data; + + switch(nbytes) + { + case CANFD_MTU: + AFB_DEBUG("Got an CAN FD frame"); + maxdlen = CANFD_MAX_DLEN; + break; + case CAN_MTU: + AFB_DEBUG("Got a legacy CAN frame"); + maxdlen = CAN_MAX_DLEN; + break; + default: + AFB_ERROR("unsupported CAN frame"); + break; + } + + if (frame.can_id & CAN_ERR_FLAG) + { + format = can_message_format_t::INVALID; + id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + } + else if (frame.can_id & CAN_EFF_FLAG) + { + format = can_message_format_t::EXTENDED; + id = frame.can_id & CAN_EFF_MASK; + } + else + { + format = can_message_format_t::STANDARD; + id = frame.can_id & CAN_SFF_MASK; + } + + /* Overwrite length_ 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) + { + if(rtr_flag) + length = frame.len& 0xF; + else + { + length = (frame.len > maxdlen) ? maxdlen : frame.len; + } + } + } + else + { + length = (frame.len > maxdlen) ? maxdlen : frame.len; + + /* Flags field only present for CAN FD frames*/ + if(maxdlen == CANFD_MAX_DLEN) + flags = frame.flags & 0xF; + + if (data.capacity() < maxdlen) + data.reserve(maxdlen); + 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(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp)); +} + + +bool can_message_t::is_set() +{ + return (id_ != 0 && length_ != 0); +} + +std::string can_message_t::get_debug_message() +{ + std::string ret = ""; + ret = ret + "Here is the next can message : id " + std::to_string(id_) + " length " + std::to_string(length_) + ", data "; + for (size_t i = 0; i < data_.size(); i++) + { + ret = ret + std::to_string(data_[i]); + } + + return ret; +} + +struct bcm_msg can_message_t::get_bcm_msg() +{ + return bcm_msg_; +} + +void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg) +{ + bcm_msg_ = bcm_msg; +} + -- cgit 1.2.3-korg