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/*
* 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()
: maxdlen_{0},
id_{0},
length_{0},
format_{can_message_format_t::INVALID},
rtr_flag_{false},
flags_{0},
timestamp_{0},
sub_id_{-1}
{}
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<uint8_t>& data,
uint64_t timestamp)
: maxdlen_{maxdlen},
id_{id},
length_{length},
format_{format},
rtr_flag_{rtr_flag},
flags_{flags},
data_{data},
timestamp_{timestamp},
sub_id_{-1}
{}
///
/// @brief Retrieve id_ member value.
///
/// @return id_ class member
///
uint32_t can_message_t::get_id() const
{
return id_;
}
int can_message_t::get_sub_id() const
{
return sub_id_;
}
///
/// @brief Retrieve data_ member value.
///
/// @return pointer to the first element
/// of class member data_
///
const uint8_t* can_message_t::get_data() const
{
return data_.data();
}
///
/// @brief Retrieve data_ member whole vector
///
/// @return the vector as is
///
const std::vector<uint8_t> can_message_t::get_data_vector() const
{
return data_;
}
///
/// @brief Retrieve length_ member value.
///
/// @return length_ class member
///
uint8_t can_message_t::get_length() const
{
return length_;
}
void can_message_t::set_sub_id(int sub_id)
{
sub_id_ = sub_id;
}
uint64_t can_message_t::get_timestamp() const
{
return timestamp_;
}
/// @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_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.
can_message_t 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<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 = 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<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 can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
}
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