/* * 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 "../../binding/low-can-hat.hpp" /// /// @brief Class constructor /// /// can_message_t class constructor. /// can_message_t::can_message_t() : message_t(), id_{0}, rtr_flag_{false}, flags_{0} {} can_message_t::can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, message_format_t format, bool rtr_flag, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp) : message_t(maxdlen, length, format, data, timestamp), 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_ != message_format_t::INVALID) { int i; for(i=0;i<CAN_MESSAGE_SIZE;i++) if(data_[i] != 0) return true; } return false; } /// @brief Take a canfd_frame struct to initialize class members /// /// This is the preferred way to initialize class members. /// /// @param[in] frame - canfd_frame to convert coming from a read of CAN socket /// @param[in] nbytes - bytes read from socket read operation. /// /// @return A can_message_t object fully initialized with canfd_frame values. std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) { uint32_t maxdlen = 0, length = 0; uint8_t flags = 0; uint32_t id; message_format_t format; bool rtr_flag; std::vector<uint8_t> 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 = message_format_t::INVALID; id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); } else if (frame.can_id & CAN_EFF_FLAG) { format = message_format_t::EXTENDED; id = frame.can_id & CAN_EFF_MASK; } else { format = 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<maxdlen;i++) { data.push_back(frame.data[i]); }; AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); } return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp)); } /// @brief Take all initialized class members and build a /// canfd_frame struct that can be use to send a CAN message over /// the bus. /// /// @return canfd_frame struct built from class members. struct canfd_frame can_message_t::convert_to_canfd_frame() { canfd_frame frame; if(is_correct_to_send()) { frame.can_id = get_id(); frame.len = (uint8_t) get_length(); ::memcpy(frame.data, get_data(), length_); } else AFB_ERROR("can_message_t not correctly initialized to be sent"); return frame; } /// @brief Take all initialized class members and build a /// can_frame struct that can be use to send a CAN message over /// the bus. /// /// @return can_frame struct built from class members. struct can_frame can_message_t::convert_to_can_frame() { can_frame frame; if(is_correct_to_send()) { frame.can_id = get_id(); frame.can_dlc = (uint8_t) get_length(); ::memcpy(frame.data, get_data(), length_); } else AFB_ERROR("can_message_t not correctly initialized to be sent"); return frame; } 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; } uint32_t can_message_t::get_flags() { return flags_; }