/* * 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();