summaryrefslogtreecommitdiffstats
path: root/src/can/can-message.hpp
blob: 629fb93c8bce380212daa146d8d72a06cf9ccf92 (plain)
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
/*
 * 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

class can_bus_dev_t;

/**
 * @enum can_message_format_t
 * @brief The ID format for a CAN message.
 */
enum class can_message_format_t {
	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'*/
};

/**
 * @class can_message_t
 *
 * @brief A compact representation of a single CAN message, meant to be used in in/out
 * buffers.
 */
class can_message_t {
private:
	uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
	uint32_t id_; /*!< id_ - The ID of the message. */
	uint8_t length_; /*!< length_ - the length of the data array (max 8). */
	can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
	bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
	uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
	std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/

public:
	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);

	uint32_t get_id() const;
	bool get_rtr_flag_() const;
	can_message_format_t get_format() const;
	uint8_t get_flags() const;
	const uint8_t* get_data() const;
	uint8_t get_length() const;

	void set_format(const can_message_format_t new_format);

	bool is_correct_to_send();

static can_message_t convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
	canfd_frame convert_to_canfd_frame();
};

/**
 * @class can_message_definition_t
 *
 * @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.
 */
class can_message_definition_t
{
	private:
	can_bus_dev_t& bus_; /*!< bus_ - A pointer to the bus this message is on. */
	uint32_t id_; /*!< id_ - The ID of the message.*/
	can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
	frequency_clock_t clock_; /*!<  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 retrieve.*/
	bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN
 							 *	message if it has changed when using raw passthrough.*/
	std::vector<uint8_t> last_value_; /*!< last_value_ - 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.*/
	
	public:
	  can_message_definition_t(can_bus_dev_t& cbd);
		uint32_t get_id() const;
};

/**
 * @class can_message_set_t
 *
 * @brief A parent wrapper for a particular set of CAN messages and associated
 *	CAN buses(e.g. a vehicle or program).
 */
class can_message_set_t
{
	private:
		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 can_bus_count_; /*!< can_bus_count_ - The number of CAN buses defined for this message set.*/
		unsigned short can_message_count_; /*!< can_message_count_ - The number of CAN messages (across all buses) defined for
										*	this message set.*/
		unsigned short can_signal_count_; /*!< can_signal_count_ - The number of CAN signals (across all messages) defined for
									*	this message set.*/
		unsigned short can_command_count_; /*!< can_command_count_ - The number of CanCommmands defined for this message set.*/
		unsigned short obd2_signal_count_; /*!< obd2_signal_count_ - The number of obd2 signals defined for this message set.*/
};

/** Public: Retrive a list of all possible CAN configurations.
 *
 * Returns a pointer to an array of all configurations.
 */
can_message_set_t* 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.
 */
can_message_definition_t* getMessages();

/* Public: Return the length of the array returned by getMessages(). */
int getMessageCount();