CAN-binder/low-can-binding/can/can-message.cpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  *
   5  * Licensed under the Apache License, Version 2.0 (the "License");
   6  * you may not use this file except in compliance with the License.
   7  * You may obtain a copy of the License at
   8  *
   9  *       http://www.apache.org/licenses/LICENSE-2.0
  10  *
  11  * Unless required by applicable law or agreed to in writing, software
  12  * distributed under the License is distributed on an "AS IS" BASIS,
  13  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  14  * See the License for the specific language governing permissions and
  15  * limitations under the License.
  16  */
  17
  18 #include "can-message.hpp"
  19
  20 #include <cstring>
  21
  22 #include "../binding/low-can-hat.hpp"
  23
  24 ///
  25 /// @brief Class constructor
  26 ///
  27 /// Constructor about can_message_t class.
  28 ///
  29 can_message_t::can_message_t()
  30         : maxdlen_{0},
  31          id_{0},
  32          length_{0},
  33          format_{can_message_format_t::INVALID},
  34          rtr_flag_{false},
  35          flags_{0},
  36          timestamp_{0},
  37          sub_id_{-1}
  38 {}
  39
  40 can_message_t::can_message_t(uint8_t maxdlen,
  41         uint32_t id,
  42         uint8_t length,
  43         can_message_format_t format,
  44         bool rtr_flag,
  45         uint8_t flags,
  46         std::vector<uint8_t>& data,
  47         uint64_t timestamp)
  48         :  maxdlen_{maxdlen},
  49         id_{id},
  50         length_{length},
  51         format_{format},
  52         rtr_flag_{rtr_flag},
  53         flags_{flags},
  54         data_{data},
  55         timestamp_{timestamp},
  56         sub_id_{-1}
  57 {}
  58
  59 ///
  60 /// @brief Retrieve id_ member value.
  61 ///
  62 /// @return id_ class member
  63 ///
  64 uint32_t can_message_t::get_id() const
  65 {
  66         return id_;
  67 }
  68
  69 int can_message_t::get_sub_id() const
  70 {
  71         return sub_id_;
  72 }
  73
  74 ///
  75 /// @brief Retrieve RTR flag member.
  76 ///
  77 /// @return rtr_flags_ class member
  78 ///
  79 bool can_message_t::get_rtr_flag_() const
  80 {
  81         return rtr_flag_;
  82 }
  83
  84 ///
  85 /// @brief Retrieve format_ member value.
  86 ///
  87 /// @return format_ class member
  88 ///
  89 can_message_format_t can_message_t::get_format() const
  90 {
  91         if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
  92                 return can_message_format_t::INVALID;
  93         return format_;
  94 }
  95
  96 ///
  97 /// @brief Retrieve flags_ member value.
  98 ///
  99 /// @return flags_ class member
 100 ///
 101 uint8_t can_message_t::get_flags() const
 102 {
 103         return flags_;
 104 }
 105
 106 ///
 107 /// @brief Retrieve data_ member value.
 108 ///
 109 /// @return pointer to the first element
 110 ///  of class member data_
 111 ///
 112 const uint8_t* can_message_t::get_data() const
 113 {
 114         return data_.data();
 115 }
 116
 117 ///
 118 /// @brief Retrieve data_ member whole vector
 119 ///
 120 /// @return the vector as is
 121 ///
 122 const std::vector<uint8_t> can_message_t::get_data_vector() const
 123 {
 124         return data_;
 125 }
 126
 127 ///
 128 /// @brief Retrieve length_ member value.
 129 ///
 130 /// @return length_ class member
 131 ///
 132 uint8_t can_message_t::get_length() const
 133 {
 134         return length_;
 135 }
 136
 137 void can_message_t::set_sub_id(int sub_id)
 138 {
 139         sub_id_ = sub_id;
 140 }
 141
 142 uint64_t can_message_t::get_timestamp() const
 143 {
 144         return timestamp_;
 145 }
 146
 147 void can_message_t::set_timestamp(uint64_t timestamp)
 148 {
 149         timestamp_ = timestamp;
 150 }
 151
 152 ///
 153 /// @brief Control whether the object is correctly initialized
 154 ///  to be sent over the CAN bus
 155 ///
 156 /// @return true if object correctly initialized and false if not.
 157 ///
 158 bool can_message_t::is_correct_to_send()
 159 {
 160         if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID)
 161         {
 162                 int i;
 163                 for(i=0;i<CAN_MESSAGE_SIZE;i++)
 164                         if(data_[i] != 0)
 165                                 return true;
 166         }
 167         return false;
 168 }
 169
 170 ///
 171 /// @brief Set format_ member value.
 172 ///
 173 /// Preferred way to initialize these members by using
 174 /// convert_from_canfd_frame method.
 175 ///
 176 /// @param[in] new_format - class member
 177 ///
 178 void can_message_t::set_format(const can_message_format_t new_format)
 179 {
 180         if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID)
 181                 format_ = new_format;
 182         else
 183                 ERROR(binder_interface, "%s: Can set format, wrong format chosen", __FUNCTION__);
 184 }
 185
 186 /// @brief Take a canfd_frame struct to initialize class members
 187 ///
 188 /// This is the preferred way to initialize class members.
 189 ///
 190 /// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
 191 /// @param[in] nbytes - bytes read from socket read operation.
 192 ///
 193 /// @return A can_message_t object fully initialized with canfd_frame values.
 194 ///
 195 can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
 196 {
 197         uint8_t maxdlen, length, flags = (uint8_t)NULL;
 198         uint32_t id;
 199         can_message_format_t format;
 200         bool rtr_flag;
 201         std::vector<uint8_t> data;
 202
 203         switch(nbytes)
 204         {
 205                 case CANFD_MTU:
 206                         DEBUG(binder_interface, "%s: Got an CAN FD frame", __FUNCTION__);
 207                         maxdlen = CANFD_MAX_DLEN;
 208                         break;
 209                 case CAN_MTU:
 210                         DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__);
 211                         maxdlen = CAN_MAX_DLEN;
 212                         break;
 213                 default:
 214                         ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__);
 215                         break;
 216         }
 217
 218         if (frame.can_id & CAN_ERR_FLAG)
 219         {
 220                 format = can_message_format_t::INVALID;
 221                 id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 222         }
 223         else if (frame.can_id & CAN_EFF_FLAG)
 224         {
 225                 format = can_message_format_t::EXTENDED;
 226                 id = frame.can_id & CAN_EFF_MASK;
 227         }
 228         else
 229         {
 230                 format = can_message_format_t::STANDARD;
 231                 id = frame.can_id & CAN_SFF_MASK;
 232         }
 233
 234         /* Overwrite length_ if RTR flags is detected.
 235          * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
 236         if (frame.can_id & CAN_RTR_FLAG)
 237         {
 238                 rtr_flag = true;
 239                 if(frame.len && frame.len <= CAN_MAX_DLC)
 240                 {
 241                         if(rtr_flag)
 242                                 length = frame.len& 0xF;
 243                         else
 244                         {
 245                                 length = (frame.len > maxdlen) ? maxdlen : frame.len;
 246                         }
 247                 }
 248         }
 249         else
 250         {
 251                 length = (frame.len > maxdlen) ? maxdlen : frame.len;
 252
 253                 /* Flags field only present for CAN FD frames*/
 254                 if(maxdlen == CANFD_MAX_DLEN)
 255                                 flags = frame.flags & 0xF;
 256
 257                 if (data.capacity() < maxdlen)
 258                         data.reserve(maxdlen);
 259                                 int i;
 260
 261                         data.clear();
 262                         /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
 263                         for(i=0;i<maxdlen;i++)
 264                         {
 265                                 data.push_back(frame.data[i]);
 266                         };
 267
 268                 DEBUG(binder_interface, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__,
 269                                                                 id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
 270         }
 271
 272         return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
 273 }
 274
 275 can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
 276 {
 277         uint8_t maxdlen, length, flags = (uint8_t)NULL;
 278         uint32_t id;
 279         can_message_format_t format;
 280         bool rtr_flag;
 281         std::vector<uint8_t> data;
 282
 283         if(nbytes <= CAN_MTU)
 284         {
 285                         DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__);
 286                         maxdlen = CAN_MAX_DLEN;
 287         }
 288         else
 289         {
 290                         ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__);
 291         }
 292
 293         if (frame.can_id & CAN_ERR_FLAG)
 294         {
 295                 format = can_message_format_t::INVALID;
 296                 id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 297         }
 298         else if (frame.can_id & CAN_EFF_FLAG)
 299         {
 300                 format = can_message_format_t::EXTENDED;
 301                 id = frame.can_id & CAN_EFF_MASK;
 302         }
 303         else
 304         {
 305                 format = can_message_format_t::STANDARD;
 306                 id = frame.can_id & CAN_SFF_MASK;
 307         }
 308
 309         /* Overwrite length_ if RTR flags is detected.
 310          * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
 311         if (frame.can_id & CAN_RTR_FLAG)
 312         {
 313                 rtr_flag = true;
 314                 if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
 315                 {
 316                         if(rtr_flag)
 317                                 length = frame.can_dlc& 0xF;
 318                         else
 319                         {
 320                                 length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
 321                         }
 322                 }
 323         }
 324         else
 325         {
 326                 length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
 327
 328                 if (data.capacity() < maxdlen)
 329                         data.reserve(maxdlen);
 330                                 int i;
 331
 332                         data.clear();
 333                         /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
 334                         for(i=0;i<maxdlen;i++)
 335                         {
 336                                 data.push_back(frame.data[i]);
 337                         };
 338
 339 //              DEBUG(binder_interface, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__,
 340 //                                                              id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
 341         }
 342
 343         return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
 344 }
 345
 346 ///
 347 /// @brief Take all initialized class's members and build an
 348 /// canfd_frame struct that can be use to send a CAN message over
 349 /// the bus.
 350 ///
 351 /// @return canfd_frame struct built from class members.
 352 ///
 353 struct canfd_frame can_message_t::convert_to_canfd_frame()
 354 {
 355         canfd_frame frame;
 356
 357         if(is_correct_to_send())
 358         {
 359                 frame.can_id = get_id();
 360                 frame.len = get_length();
 361                 ::memcpy(frame.data, get_data(), length_);
 362         }
 363         else
 364                 ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__);
 365
 366         return frame;
 367 }
 368
 369 struct can_frame can_message_t::convert_to_can_frame()
 370 {
 371         can_frame frame;
 372
 373         if(is_correct_to_send())
 374         {
 375                 frame.can_id = get_id();
 376                 frame.can_dlc = get_length();
 377                 ::memcpy(frame.data, get_data(), length_);
 378         }
 379         else
 380                 ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__);
 381
 382         return frame;
 383 }