low-can-binding/can/message/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 /// can_message_t class constructor.
  28 ///
  29 can_message_t::can_message_t()
  30         : message_t(),
  31          id_{0},
  32          rtr_flag_{false}
  33 {}
  34
  35 can_message_t::can_message_t(uint32_t maxdlen,
  36         uint32_t id,
  37         uint32_t length,
  38         bool rtr_flag,
  39         uint32_t flags,
  40         std::vector<uint8_t>& data,
  41         uint64_t timestamp)
  42         : message_t(maxdlen, length, flags, data, timestamp),
  43         id_{id},
  44         rtr_flag_{rtr_flag}
  45 {}
  46
  47 ///
  48 /// @brief Retrieve id_ member value.
  49 ///
  50 /// @return id_ class member
  51 ///
  52 uint32_t can_message_t::get_id() const
  53 {
  54         return id_;
  55 }
  56
  57
  58 /// @brief Control whether the object is correctly initialized
  59 ///  to be sent over the CAN bus
  60 ///
  61 /// @return True if object correctly initialized and false if not.
  62 bool can_message_t::is_correct_to_send()
  63 {
  64         if (id_ != 0 && length_ != 0 && !(flags_&INVALID_FLAG))
  65         {
  66                 int i;
  67                 for(i=0;i<length_;i++)
  68                         if(data_[i] != 0)
  69                                 return true;
  70         }
  71         return false;
  72 }
  73
  74 /// @brief Take a canfd_frame struct to initialize class members
  75 ///
  76 /// This is the preferred way to initialize class members.
  77 ///
  78 /// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
  79 /// @param[in] nbytes - bytes read from socket read operation.
  80 ///
  81 /// @return A can_message_t object fully initialized with canfd_frame values.
  82 std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
  83 {
  84         uint32_t maxdlen = 0, length = 0;
  85         uint32_t flags = 0;
  86         uint32_t id;
  87         bool rtr_flag;
  88         std::vector<uint8_t> data;
  89
  90         switch(nbytes)
  91         {
  92                 case CANFD_MTU:
  93                         AFB_DEBUG("Got an CAN FD frame");
  94                         maxdlen = CANFD_MAX_DLEN;
  95                         break;
  96                 case CAN_MTU:
  97                         AFB_DEBUG("Got a legacy CAN frame");
  98                         maxdlen = CAN_MAX_DLEN;
  99                         break;
 100                 default:
 101                         AFB_ERROR("unsupported CAN frame");
 102                         break;
 103         }
 104
 105         if (frame.can_id & CAN_ERR_FLAG)
 106         {
 107                 flags = flags|INVALID_FLAG;
 108                 id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 109         }
 110         else if (frame.can_id & CAN_EFF_FLAG)
 111         {
 112                 flags = flags|EXTENDED_ID;
 113                 id = frame.can_id & CAN_EFF_MASK;
 114         }
 115         else
 116         {
 117                 flags = flags|STANDARD_ID;
 118                 id = frame.can_id & CAN_SFF_MASK;
 119         }
 120
 121         /* Overwrite length_ if RTR flags is detected.
 122          * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
 123         if (frame.can_id & CAN_RTR_FLAG)
 124         {
 125                 rtr_flag = true;
 126                 if(frame.len && frame.len <= CAN_MAX_DLC)
 127                 {
 128                         if(rtr_flag)
 129                                 length = frame.len& 0xF;
 130                         else
 131                         {
 132                                 length = (frame.len > maxdlen) ? maxdlen : frame.len;
 133                         }
 134                 }
 135         }
 136         else
 137         {
 138                 length = (frame.len > maxdlen) ? maxdlen : frame.len;
 139
 140                 /* Flags field only present for CAN FD frames*/
 141                 /*if(maxdlen == CANFD_MAX_DLEN)
 142                                 flags = frame.flags & 0xF;*/
 143
 144                 if (data.capacity() < maxdlen)
 145                         data.reserve(maxdlen);
 146                                 int i;
 147
 148                         data.clear();
 149                         /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
 150                         for(i=0;i<maxdlen;i++)
 151                         {
 152                                 data.push_back(frame.data[i]);
 153                         };
 154
 155                 AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
 156                                                                 id, (uint32_t)flags, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
 157         }
 158
 159         return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, rtr_flag, flags, data, timestamp));
 160 }
 161
 162 /// @brief Take all initialized class members and build a
 163 /// canfd_frame struct that can be use to send a CAN message over
 164 /// the bus.
 165 ///
 166 /// @return canfd_frame struct built from class members.
 167 struct canfd_frame can_message_t::convert_to_canfd_frame()
 168 {
 169         canfd_frame frame;
 170
 171         if(is_correct_to_send())
 172         {
 173                 frame.can_id = get_id();
 174                 frame.len = (uint8_t) get_length();
 175                 ::memcpy(frame.data, get_data(), length_);
 176         }
 177         else
 178                 AFB_ERROR("can_message_t not correctly initialized to be sent");
 179
 180         return frame;
 181 }
 182
 183 /// @brief Take all initialized class members and build a
 184 /// canfd_frame struct that can be use to send a CAN message over
 185 /// the bus.
 186 ///
 187 /// @return canfd_frame struct built from class members.
 188 struct std::vector<canfd_frame> can_message_t::convert_to_canfd_frame_vector()
 189 {
 190         std::vector<canfd_frame> ret;
 191         if(is_correct_to_send())
 192         {
 193                 if(flags_ & CAN_FD_FRAME)
 194                 {
 195                         int i=0;
 196                         do
 197                         {
 198                                 canfd_frame frame;
 199                                 frame.can_id = id_;
 200                                 frame.len = 64;
 201                                 std::vector<uint8_t> data = get_data_vector((i*64),(i*64)+63);
 202                                 if(data.size()<64)
 203                                 {
 204                                         ::memset(frame.data,0,sizeof(frame.data));
 205                                         ::memcpy(frame.data,data.data(),data.size());
 206                                 }
 207                                 else
 208                                 {
 209                                         ::memcpy(frame.data,data.data(),64);
 210                                 }
 211                                 ret.push_back(frame);
 212                                 i++;
 213                         } while (i<(length_ >> 6));
 214                 }
 215                 else
 216                 {
 217                         int i=0;
 218                         do
 219                         {
 220                                 canfd_frame frame;
 221                                 frame.can_id = id_;
 222                                 frame.len = 8;
 223                                 std::vector<uint8_t> data = get_data_vector(i*8,(i*8)+7);
 224                                 if(data.size()<8)
 225                                 {
 226                                         ::memset(frame.data,0,sizeof(frame.data));
 227                                         ::memcpy(frame.data,data.data(),data.size());
 228                                 }
 229                                 else
 230                                 {
 231                                         ::memset(frame.data,0,sizeof(frame.data));
 232                                         ::memcpy(frame.data,data.data(),8);
 233                                 }
 234                                 ret.push_back(frame);
 235                                 i++;
 236                         } while (i<(length_ >> 3));
 237                 }
 238         }
 239         else
 240                 AFB_ERROR("can_message_t not correctly initialized to be sent");
 241
 242         return ret;
 243 }
 244
 245 /// @brief Take all initialized class members and build a
 246 /// can_frame struct that can be use to send a CAN message over
 247 /// the bus.
 248 ///
 249 /// @return can_frame struct built from class members.
 250 struct can_frame can_message_t::convert_to_can_frame()
 251 {
 252         can_frame frame;
 253
 254         if(is_correct_to_send())
 255         {
 256                 frame.can_id = get_id();
 257                 frame.can_dlc = (uint8_t) get_length();
 258                 ::memcpy(frame.data, get_data(), length_);
 259         }
 260         else
 261                 AFB_ERROR("can_message_t not correctly initialized to be sent");
 262
 263         return frame;
 264 }
 265
 266 bool can_message_t::is_set()
 267 {
 268         return (id_ != 0 && length_ != 0);
 269 }
 270
 271 std::string can_message_t::get_debug_message()
 272 {
 273         std::string ret = "";
 274         ret = ret + "Here is the next can message : id " + std::to_string(id_)  + " length " + std::to_string(length_) + ", data ";
 275         for (size_t i = 0; i < data_.size(); i++)
 276         {
 277                 ret = ret + std::to_string(data_[i]);
 278         }
 279
 280         return ret;
 281 }
 282
 283 struct bcm_msg& can_message_t::get_bcm_msg()
 284 {
 285         return bcm_msg_;
 286 }
 287
 288 void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
 289 {
 290         bcm_msg_ = bcm_msg;
 291 }