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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 "low-can-binding.hpp"
/********************************************************************************
*
* CanMessage method implementation
*
*********************************************************************************/
can_message_t::can_message_t()
: id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}
{}
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)
return CanMessageFormat::ERROR;
return format_;
}
uint8_t can_message_t::get_flags() const
{
return flags_;
}
const uint8_t* can_message_t::get_data() const
{
return data_.data();
}
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)
{
int i;
for(i=0;i<CAN_MESSAGE_SIZE;i++)
if(data_[i] != 0)
return true;
}
return false;
}
void can_message_t::set_id_and_format(const uint32_t new_id)
{
set_format(new_id);
switch(format_)
{
case CanMessageFormat::STANDARD:
id_ = new_id & CAN_SFF_MASK;
break;
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;
}
}
void can_message_t::set_format(const CanMessageFormat new_format)
{
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_format(const uint32_t can_id)
{
if (can_id & CAN_ERR_FLAG)
format_ = CanMessageFormat::ERROR;
else if (can_id & CAN_EFF_FLAG)
format_ = CanMessageFormat::EXTENDED;
else
format_ = CanMessageFormat::STANDARD;
}
void can_message_t::set_flags(const uint8_t flags)
{
flags_ = flags & 0xF;
}
void can_message_t::set_length(const uint8_t new_length)
{
if(rtr_flag_)
length_ = new_length & 0xF;
else
{
length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
}
}
void can_message_t::set_data(const __u8 new_data[], size_t dlen)
{
if (dlen > maxdlen_)
ERROR(binder_interface, "Can set data, too big ! It is a CAN frame ?");
else
{
int i;
/* Limiting to 8 bytes message for now, even on 64 bytes from fd frames*/
for(i=0;i<CAN_MESSAGE_SIZE;i++)
{
data_.push_back(new_data[i]);
}
}
}
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)
{
rtr_flag_ = true;
if(frame.len && frame.len <= CAN_MAX_DLC)
set_length(frame.len);
return;
}
/* Flags field only present for CAN FD frames*/
if(maxdlen_ == CANFD_MAX_DLEN)
set_flags(frame.flags);
size_t dlen = sizeof(frame.data)/sizeof(__u8);
data_.reserve(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()
{
canfd_frame frame;
if(is_correct_to_send())
{
frame.can_id = get_id();
frame.len = get_length();
::memcpy(frame.data, get_data(), length_);
}
else
ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
return frame;
}
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