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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"
/**
* @brief Class constructor
*
* Constructor about can_message_t class.
*/
can_message_t::can_message_t()
: maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}
{}
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)
: maxdlen_{maxdlen}, id_{id}, length_{length}, format_{format}, rtr_flag_{rtr_flag}, flags_{flags}, data_{data}
{}
/**
* @brief Retrieve id_ member value.
*
* @return id_ class member
*/
uint32_t can_message_t::get_id() const
{
return id_;
}
/**
* @brief Retrieve RTR flag member.
*
* @return rtr_flags_ class member
*/
bool can_message_t::get_rtr_flag_() const
{
return rtr_flag_;
}
/**
* @brief Retrieve format_ member value.
*
* @return format_ class member
*/
can_message_format_t can_message_t::get_format() const
{
if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
return can_message_format_t::ERROR;
return format_;
}
/**
* @brief Retrieve flags_ member value.
*
* @return flags_ class member
*/
uint8_t can_message_t::get_flags() const
{
return flags_;
}
/**
* @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 length_ member value.
*
* @return length_ class member
*/
uint8_t can_message_t::get_length() const
{
return length_;
}
/**
* @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::ERROR)
{
int i;
for(i=0;i<CAN_MESSAGE_SIZE;i++)
if(data_[i] != 0)
return true;
}
return false;
}
/**
* @brief Set format_ member value.
*
* Preferred way to initialize these members by using
* convert_from_canfd_frame method.
*
* @param[in] new_format - class member
*/
void can_message_t::set_format(const can_message_format_t new_format)
{
if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR)
format_ = new_format;
else
ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
}
/**
* @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] nbyte - 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_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
{
uint8_t maxdlen, length, flags = (uint8_t)NULL;
uint32_t id;
can_message_format_t format;
bool rtr_flag;
std::vector<uint8_t> data;
switch(nbytes)
{
case CANFD_MTU:
DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
maxdlen = CANFD_MAX_DLEN;
break;
case CAN_MTU:
DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
maxdlen = CAN_MAX_DLEN;
break;
default:
ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
break;
}
if (frame.can_id & CAN_ERR_FLAG)
format = can_message_format_t::ERROR;
else if (frame.can_id & CAN_EFF_FLAG)
format = can_message_format_t::EXTENDED;
else
format = can_message_format_t::STANDARD;
switch(format)
{
case can_message_format_t::STANDARD:
id = frame.can_id & CAN_SFF_MASK;
break;
case can_message_format_t::EXTENDED:
id = frame.can_id & CAN_EFF_MASK;
break;
case can_message_format_t::ERROR:
id = frame.can_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;
}
/* 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]);
};
DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
id, 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);
}
/**
* @brief Take all initialized class's members and build an
* canfd_frame struct that can be use to send a CAN message over
* the bus.
*
* @return canfd_frame struct built from class members.
*/
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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