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-rw-r--r--low-can-binding/can/can-message.cpp389
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diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp
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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
+///
+/// Constructor about can_message_t class.
+///
+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 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. Default to INVALID.
+///
+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::INVALID;
+ 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 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_;
+}
+
+void can_message_t::set_timestamp(uint64_t timestamp)
+{
+ timestamp_ = 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 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::INVALID)
+ format_ = new_format;
+ else
+ 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] 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, 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("Got an CAN FD frame");
+ maxdlen = CANFD_MAX_DLEN;
+ break;
+ case CAN_MTU:
+ DEBUG("Got a legacy CAN frame");
+ maxdlen = CAN_MAX_DLEN;
+ break;
+ default:
+ 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]);
+ };
+
+ 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);
+}
+
+/// @brief Take a can_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - can_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 can_frame values.
+can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
+{
+ uint8_t maxdlen, length, flags = (uint8_t)NULL;
+ uint32_t id;
+ can_message_format_t format;
+ bool rtr_flag;
+ std::vector<uint8_t> data;
+
+ if(nbytes <= CAN_MTU)
+ {
+ DEBUG("Got a legacy CAN frame");
+ maxdlen = CAN_MAX_DLEN;
+ }
+ else
+ {
+ ERROR("unsupported CAN frame");
+ }
+
+ 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.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
+ {
+ if(rtr_flag)
+ length = frame.can_dlc& 0xF;
+ else
+ {
+ length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+ }
+ }
+ }
+ else
+ {
+ length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+
+ 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("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);
+}
+
+/// @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.
+struct 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("can_message_t not correctly initialized to be sent");
+
+ return frame;
+}
+
+/// @brief Take all initialized class's members and build an
+/// can_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return can_frame struct built from class members.
+struct can_frame can_message_t::convert_to_can_frame()
+{
+ can_frame frame;
+
+ if(is_correct_to_send())
+ {
+ frame.can_id = get_id();
+ frame.can_dlc = get_length();
+ ::memcpy(frame.data, get_data(), length_);
+ }
+ else
+ ERROR("can_message_t not correctly initialized to be sent");
+
+ return frame;
+}