From 9aa1904f4b0cac0f3cb6ade68cd76954607aa5fe Mon Sep 17 00:00:00 2001
From: Romain Forlot <romain.forlot@iot.bzh>
Date: Wed, 1 Mar 2017 15:05:18 +0100
Subject: Fix: improve can_message read
Change-Id: If0c52c6df3f68e9b79fb851d64a729946cac6ef6
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
---
src/can-bus.cpp | 27 ++++--------
src/can-bus.hpp | 2 +-
src/can-message.cpp | 116 ++++++++++++++++++++++++++++++++++++++++------------
src/can-message.hpp | 49 ++++++++++++++++++++--
4 files changed, 143 insertions(+), 51 deletions(-)
(limited to 'src')
diff --git a/src/can-bus.cpp b/src/can-bus.cpp
index 672e95e5..989dfa20 100644
--- a/src/can-bus.cpp
+++ b/src/can-bus.cpp
@@ -279,7 +279,7 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
has_vehicle_message_ = true;
}
-std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices();
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
{
return can_devices_m_;
}
@@ -372,24 +372,13 @@ canfd_frame can_bus_dev_t::read()
nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
- switch(nbytes)
- {
- case CANFD_MTU:
- DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
- //maxdlen = CANFD_MAX_DLEN;
- break;
- case CAN_MTU:
- DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
- //maxdlen = CAN_MAX_DLEN;
- break;
- default:
- if (errno == ENETDOWN)
- ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
- ERROR(binder_interface, "read_can: Error reading CAN bus");
- ::memset(&canfd_frame, 0, sizeof(canfd_frame));
- is_running_ = false;
- break;
- }
+ /* if we did not fit into CAN sized messages then stop_reading. */
+ if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
+ if (errno == ENETDOWN)
+ ERROR(binder_interface, "read: %s CAN device down", device_name_);
+ ERROR(binder_interface, "read: Error reading CAN bus");
+ ::memset(&canfd_frame, 0, sizeof(canfd_frame));
+ stop_reading();
return canfd_frame;
}
diff --git a/src/can-bus.hpp b/src/can-bus.hpp
index 8d40ff0d..991bf62c 100644
--- a/src/can-bus.hpp
+++ b/src/can-bus.hpp
@@ -189,7 +189,7 @@ class can_bus_t {
*
* @return map can_bus_dev_m_ map
*/
- std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_bus_devices();
+ std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
};
diff --git a/src/can-message.cpp b/src/can-message.cpp
index d40dbc43..77fce685 100644
--- a/src/can-message.cpp
+++ b/src/can-message.cpp
@@ -28,7 +28,7 @@
*********************************************************************************/
can_message_t::can_message_t()
- : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
+ : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}
{}
uint32_t can_message_t::get_id() const
@@ -36,6 +36,11 @@ uint32_t can_message_t::get_id() const
return id_;
}
+bool can_message_t::get_rtr_flag_() const
+{
+ return rtr_flag_;
+}
+
int can_message_t::get_format() const
{
if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
@@ -43,6 +48,11 @@ int can_message_t::get_format() const
return format_;
}
+uint8_t can_message_t::get_flags() const
+{
+ return flags_;
+}
+
const uint8_t* can_message_t::get_data() const
{
return data_;
@@ -52,6 +62,26 @@ uint8_t can_message_t::get_length() const
return length_;
}
+void can_message_t::set_max_data_length(const struct canfd_frame& frame)
+{
+ maxdlen_ = 0;
+
+ switch(sizeof(frame))
+ {
+ case CANFD_MTU:
+ DEBUG(binder_interface, "convert_from_canfd_frame: Got an CAN FD frame with length %d and flags %d", frame.len, frame.flags);
+ maxdlen_ = CANFD_MAX_DLEN;
+ break;
+ case CAN_MTU:
+ DEBUG(binder_interface, "convert_from_canfd_frame: Got a legacy CAN frame with length %d", frame.len);
+ maxdlen_ = CAN_MAX_DLEN;
+ break;
+ default:
+ ERROR(binder_interface, "convert_from_canfd_frame: unsupported CAN frame");
+ break;
+ }
+}
+
bool can_message_t::is_correct_to_send()
{
if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
@@ -64,8 +94,9 @@ bool can_message_t::is_correct_to_send()
return false;
}
-void can_message_t::set_id(const uint32_t new_id)
+void can_message_t::set_id_and_format(const uint32_t new_id)
{
+ set_format(new_id);
switch(format_)
{
case CanMessageFormat::STANDARD:
@@ -74,6 +105,9 @@ void can_message_t::set_id(const uint32_t new_id)
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;
@@ -82,49 +116,77 @@ void can_message_t::set_id(const uint32_t new_id)
void can_message_t::set_format(const CanMessageFormat new_format)
{
- if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
+ 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");
}
-void can_message_t::set_data(const uint8_t new_data)
+void can_message_t::set_format(const uint32_t can_id)
{
- if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
- ERROR(binder_interface, "Can set data, your data array is too big");
+ if (can_id & CAN_ERR_FLAG)
+ format_ = CanMessageFormat::ERROR;
+ else if (can_id & CAN_EFF_FLAG)
+ format_ = CanMessageFormat::EXTENDED;
else
- {
- ::memcpy(&data_, &new_data, sizeof(new_data));
- length_ = sizeof(new_data);
- }
+ format_ = CanMessageFormat::STANDARD;
}
-void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
+void can_message_t::set_flags(const uint8_t flags)
{
- 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;
+ flags_ = flags & 0xF;
+}
- if (frame.can_id & CAN_ERR_FLAG)
+void can_message_t::set_length(const uint8_t new_length)
+{
+ if(rtr_flag_)
+ length_ = new_length & 0xF;
+ else
{
- id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- format_ = CanMessageFormat::ERROR;
+ length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
}
- else if (frame.can_id & CAN_EFF_FLAG)
+}
+
+void can_message_t::set_data(const __u8 new_data[], size_t dlen)
+{
+ if (sizeof(dlen)/sizeof(__u8) > maxdlen_)
+ ERROR(binder_interface, "Can set data, too big ! It is a CAN frame ?");
+ else
{
- id_ = frame.can_id & CAN_EFF_MASK;
- format_ = CanMessageFormat::EXTENDED;
+ int i;
+ /* Limiting to 8 bytes message for now on 64 bytes from fd frames*/
+ for(i=0;i<CAN_MESSAGE_SIZE;i++)
+ {
+ data_[i] = new_data[i];
+ }
}
- else
+}
+
+void can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame)
+{
+ set_max_data_length(frame);
+ set_length(frame.len);
+ set_id_and_format(frame.can_id);
+
+ /* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+ if (frame.can_id & CAN_RTR_FLAG)
{
- id_ = frame.can_id & CAN_SFF_MASK;
- format_ = CanMessageFormat::STANDARD;
+ rtr_flag_ = true;
+ if(frame.len && frame.len <= CAN_MAX_DLC)
+ set_length(frame.len);
+ return;
}
- DEBUG(binder_interface, "");
- if (sizeof(frame.data) <= sizeof(data_))
- ::memcpy(&data_, frame.data, length_);
- else if (sizeof(frame.data) >= CAN_MAX_DLEN)
- ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
+ /* Flags field only present for CAN FD frames*/
+ if(maxdlen_ == CANFD_MAX_DLEN)
+ set_flags(frame.flags);
+
+ size_t dlen = sizeof(frame.data);
+ memset(data_, 0, dlen);
+ set_data(frame.data, dlen);
+
+ DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %d, format: %d, length: %d, data %d%d%d%d%d%d%d%d", id_, format_, length_,
+ data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
}
canfd_frame can_message_t::convert_to_canfd_frame()
diff --git a/src/can-message.hpp b/src/can-message.hpp
index 6e51d928..f24c1700 100644
--- a/src/can-message.hpp
+++ b/src/can-message.hpp
@@ -57,10 +57,14 @@ 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.*/
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.*/
+ uint8_t maxdlen_;
+
public:
/**
* @brief Class constructor
@@ -76,6 +80,13 @@ class can_message_t {
*/
uint32_t get_id() const;
+ /**
+ * @brief Retrieve RTR flag member.
+ *
+ * @return bool rtr_flags_ class member
+ */
+ bool get_rtr_flag_() const;
+
/**
* @brief Retrieve format_ member value.
*
@@ -83,6 +94,13 @@ class can_message_t {
*/
int get_format() const;
+ /**
+ * @brief Retrieve format_ member value.
+ *
+ * @return CanMessageFormat format_ class member
+ */
+ uint8_t get_flags() const;
+
/**
* @brief Retrieve data_ member value.
*
@@ -96,6 +114,8 @@ class can_message_t {
* @return uint8_t length_ class member
*/
uint8_t get_length() const;
+
+ void set_max_data_length(const struct canfd_frame& frame);
/**
* @brief Control whether the object is correctly initialized
@@ -113,7 +133,7 @@ class can_message_t {
*
* @param uint32_t id_ class member
*/
- void set_id(const uint32_t new_id);
+ void set_id_and_format(const uint32_t new_id);
/**
* @brief Set format_ member value.
@@ -123,8 +143,29 @@ class can_message_t {
*
* @param CanMessageFormat format_ class member
*/
- void set_format(const CanMessageFormat format);
+ void set_format(const CanMessageFormat new_format);
+ /**
+ * @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 set_format(const uint32_t can_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_flags(const uint8_t flags);
+
/**
* @brief Set data_ member value.
*
@@ -133,7 +174,7 @@ class can_message_t {
*
* @param uint8_t data_ array with a max size of 8 elements.
*/
- void set_data(const uint8_t new_data);
+ void set_data(const __u8 new_data[], size_t dlen);
/**
* @brief Set length_ member value.
@@ -152,7 +193,7 @@ class can_message_t {
*
* @param canfd_frame struct read from can bus device.
*/
- void convert_from_canfd_frame(const canfd_frame& frame);
+ void convert_from_canfd_frame(const struct canfd_frame& frame);
/**
* @brief Take all initialized class's members and build an
--
cgit