1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
|
/*
* Copyright (C) 2018, 2019 "IoT.bzh"
* Author "Arthur Guyader" <arthur.guyader@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 <cstring>
#include "../../binding/low-can-hat.hpp"
#include "j1939-message.hpp"
///
/// @brief Class constructor
///
/// j1939_message_t class constructor.
///
j1939_message_t::j1939_message_t():
message_t(),
name_{0},
pgn_{0},
addr_{0}
{}
j1939_message_t::j1939_message_t(uint8_t length,
message_format_t format,
std::vector<uint8_t>& data,
uint64_t timestamp,
name_t name,
pgn_t pgn,
uint8_t addr):
message_t(length, format, data, timestamp),
name_{name},
pgn_{pgn},
addr_{addr}
{}
///
/// @brief Retrieve name_ member value.
///
/// @return name_ class member
///
uint64_t j1939_message_t::get_name() const {
return name_;
}
///
/// @brief Retrieve pgn_ member value.
///
/// @return pgn_ class member
///
uint32_t j1939_message_t::get_pgn() const{
return pgn_;
}
///
/// @brief Retrieve addr_ member value.
///
/// @return addr_ class member
///
uint8_t j1939_message_t::get_addr() const{
return addr_;
}
/// @brief Take a sockaddr_can struct and array of data to initialize class members
///
/// This is the preferred way to initialize class members.
///
/// @param[in] addr - sockaddr_can to get pgn, name and addr
/// @param[in] data - array of data get from the j1939 socket
/// @param[in] nbytes - size of the array of data
/// @param[in] timestamp - timestamp of the message
///
/// @return A j1939_message_t object fully initialized with sockaddr_can and data values.
std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct sockaddr_can& addr, uint8_t (&data)[128],size_t nbytes, uint64_t timestamp)
{
uint8_t length = 0;
message_format_t format;
std::vector<uint8_t> dataVector;
if(nbytes > J1939_MAX_DLEN)
{
AFB_DEBUG("Unsupported j1939 frame");
format = message_format_t::INVALID;
}
else
{
AFB_DEBUG("Got a j1939 frame");
format = message_format_t::J1939;
}
length = (uint8_t) nbytes;
dataVector.reserve(length);
int i;
dataVector.clear();
for(i=0;i<length;i++)
{
dataVector.push_back(data[i]);
};
AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
addr.can_addr.j1939.pgn, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
return std::make_shared<j1939_message_t>(j1939_message_t(length, format, dataVector, timestamp,addr.can_addr.j1939.name,addr.can_addr.j1939.pgn,addr.can_addr.j1939.addr));
}
/// @brief Test if members pgn_ and length are set.
///
/// @return boolean - true = set - false = not set
bool j1939_message_t::is_set()
{
return (pgn_ != 0 && length_ != 0);
}
/// @brief Generate a string with informations about the message
///
/// @return Debug message with informations about members
std::string j1939_message_t::get_debug_message()
{
std::string ret = "";
ret = ret + "Here is the next j1939 message : pgn " + std::to_string(pgn_) + " length " + std::to_string(length_) + ", data ";
for (size_t i = 0; i < data_.size(); i++)
{
ret = ret + std::to_string(data_[i]);
}
return ret;
}
///
/// @brief Retrieve pgn_ member value.
///
/// @return pgn_ class member
///
uint32_t j1939_message_t::get_id() const
{
AFB_WARNING("Prefer method get_pgn() for j1939 messages");
return get_pgn();
}
struct bcm_msg j1939_message_t::get_bcm_msg()
{
AFB_WARNING("Not implemented");
struct bcm_msg bcm_msg;
::memset(&bcm_msg, 0, sizeof(struct bcm_msg));
return bcm_msg;
}
void j1939_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
{
AFB_WARNING("Not implemented");
}
|
