2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
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
9 * http://www.apache.org/licenses/LICENSE-2.0
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.
18 #include "./can-message.hpp"
22 #include "../../binding/low-can-hat.hpp"
25 /// @brief Class constructor
27 /// can_message_t class constructor.
29 can_message_t::can_message_t()
35 can_message_t::can_message_t(uint32_t maxdlen,
40 std::vector<uint8_t>& data,
42 : message_t(maxdlen, length, flags, data, timestamp),
48 /// @brief Retrieve id_ member value.
50 /// @return id_ class member
52 uint32_t can_message_t::get_id() const
58 void can_message_t::set_id(const canid_t id)
63 /// @brief Control whether the object is correctly initialized
64 /// to be sent over the CAN bus
66 /// @return True if object correctly initialized and false if not.
67 bool can_message_t::is_correct_to_send()
69 if (id_ != 0 && length_ != 0 && !(flags_&INVALID_FLAG))
72 for(i=0;i<length_;i++)
79 /// @brief Take a canfd_frame struct to initialize class members
81 /// This is the preferred way to initialize class members.
83 /// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
84 /// @param[in] nbytes - bytes read from socket read operation.
86 /// @return A can_message_t object fully initialized with canfd_frame values.
87 std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
89 uint32_t maxdlen = 0, length = 0;
93 std::vector<uint8_t> data;
98 AFB_DEBUG("Got an CAN FD frame");
99 maxdlen = CANFD_MAX_DLEN;
102 AFB_DEBUG("Got a legacy CAN frame");
103 maxdlen = CAN_MAX_DLEN;
106 AFB_ERROR("unsupported CAN frame");
110 if (frame.can_id & CAN_ERR_FLAG)
112 flags = flags|INVALID_FLAG;
113 id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
115 else if (frame.can_id & CAN_EFF_FLAG)
117 id = frame.can_id & CAN_EFF_MASK;
121 id = frame.can_id & CAN_SFF_MASK;
124 /* Overwrite length_ if RTR flags is detected.
125 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
126 if (frame.can_id & CAN_RTR_FLAG)
129 if(frame.len && frame.len <= CAN_MAX_DLC)
132 length = frame.len& 0xF;
135 length = (frame.len > maxdlen) ? maxdlen : frame.len;
141 length = (frame.len > maxdlen) ? maxdlen : frame.len;
143 /* Flags field only present for CAN FD frames*/
144 /*if(maxdlen == CANFD_MAX_DLEN)
145 flags = frame.flags & 0xF;*/
147 if (data.capacity() < maxdlen)
148 data.reserve(maxdlen);
152 /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
153 for(i=0;i<maxdlen;i++)
155 data.push_back(frame.data[i]);
158 AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
159 id, (uint32_t)flags, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
162 return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, rtr_flag, flags, data, timestamp));
165 /// @brief Take all initialized class members and build a
166 /// canfd_frame struct that can be use to send a CAN message over
169 /// @return canfd_frame struct built from class members.
170 struct canfd_frame can_message_t::convert_to_canfd_frame()
174 if(is_correct_to_send())
176 frame.can_id = get_id();
177 frame.len = (uint8_t) get_length();
178 ::memcpy(frame.data, get_data(), length_);
181 AFB_ERROR("can_message_t not correctly initialized to be sent");
186 /// @brief Take all initialized class members and build a
187 /// canfd_frame struct that can be use to send a CAN message over
190 /// @return canfd_frame struct built from class members.
191 struct std::vector<canfd_frame> can_message_t::convert_to_canfd_frame_vector()
193 std::vector<canfd_frame> ret;
194 if(is_correct_to_send())
196 if(flags_ & CAN_FD_FRAME)
204 std::vector<uint8_t> data = get_data_vector((i*64),(i*64)+63);
207 ::memset(frame.data, 0, sizeof(frame.data));
208 ::memcpy(frame.data, data.data(), data.size());
212 ::memcpy(frame.data, data.data(), 64);
214 ret.push_back(frame);
216 } while (i<(length_ >> 6));
226 std::vector<uint8_t> data = get_data_vector(i*8,(i*8)+7);
229 ::memset(frame.data, 0, sizeof(frame.data));
230 ::memcpy(frame.data, data.data(), data.size());
234 ::memset(frame.data, 0, sizeof(frame.data));
235 ::memcpy(frame.data, data.data(), 8);
237 ret.push_back(frame);
239 } while (i<(length_ >> 3));
243 AFB_ERROR("can_message_t not correctly initialized to be sent");
248 /// @brief Take all initialized class members and build a
249 /// can_frame struct that can be use to send a CAN message over
252 /// @return can_frame struct built from class members.
253 struct can_frame can_message_t::convert_to_can_frame()
257 if(is_correct_to_send())
259 frame.can_id = get_id();
260 frame.can_dlc = (uint8_t) get_length();
261 ::memcpy(frame.data, get_data(), length_);
264 AFB_ERROR("can_message_t not correctly initialized to be sent");
269 bool can_message_t::is_set()
271 return (id_ != 0 && length_ != 0);
274 std::string can_message_t::get_debug_message()
276 std::string ret = "";
277 ret = ret + "Here is the next can message : id " + std::to_string(id_) + " length " + std::to_string(length_) + ", data ";
278 for (size_t i = 0; i < data_.size(); i++)
280 ret = ret + std::to_string(data_[i]);
286 struct bcm_msg& can_message_t::get_bcm_msg()
291 void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)