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
|
/*
* 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 "utils/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();
|
