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         message_format_t format,
  39         bool rtr_flag,
  40         uint32_t flags,
  41         std::vector<uint8_t>& data,
  42         uint64_t timestamp)
  43         : message_t(maxdlen, length, format, data, timestamp, flags),
  44         id_{id},
  45         rtr_flag_{rtr_flag}
  46 {}
  47
  48 ///
  49 /// @brief Retrieve id_ member value.
  50 ///
  51 /// @return id_ class member
  52 ///
  53 uint32_t can_message_t::get_id() const
  54 {
  55         return id_;
  56 }
  57
  58
  59 /// @brief Control whether the object is correctly initialized
  60 ///  to be sent over the CAN bus
  61 ///
  62 /// @return True if object correctly initialized and false if not.
  63 bool can_message_t::is_correct_to_send()
  64 {
  65         if (id_ != 0 && length_ != 0 && format_ != message_format_t::INVALID)
  66         {
  67                 int i;
  68                 for(i=0;i<length_;i++)
  69                         if(data_[i] != 0)
  70                                 return true;
  71         }
  72         return false;
  73 }
  74
  75 /// @brief Take a canfd_frame struct to initialize class members
  76 ///
  77 /// This is the preferred way to initialize class members.
  78 ///
  79 /// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
  80 /// @param[in] nbytes - bytes read from socket read operation.
  81 ///
  82 /// @return A can_message_t object fully initialized with canfd_frame values.
  83 std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
  84 {
  85         uint32_t maxdlen = 0, length = 0;
  86         uint8_t flags = 0;
  87         uint32_t id;
  88         message_format_t format;
  89         bool rtr_flag;
  90         std::vector<uint8_t> data;
  91
  92         switch(nbytes)
  93         {
  94                 case CANFD_MTU:
  95                         AFB_DEBUG("Got an CAN FD frame");
  96                         maxdlen = CANFD_MAX_DLEN;
  97                         break;
  98                 case CAN_MTU:
  99                         AFB_DEBUG("Got a legacy CAN frame");
 100                         maxdlen = CAN_MAX_DLEN;
 101                         break;
 102                 default:
 103                         AFB_ERROR("unsupported CAN frame");
 104                         break;
 105         }
 106
 107         if (frame.can_id & CAN_ERR_FLAG)
 108         {
 109                 format = message_format_t::INVALID;
 110                 id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 111         }
 112         else if (frame.can_id & CAN_EFF_FLAG)
 113         {
 114                 format = message_format_t::EXTENDED;
 115                 id = frame.can_id & CAN_EFF_MASK;
 116         }
 117         else
 118         {
 119                 format = message_format_t::STANDARD;
 120                 id = frame.can_id & CAN_SFF_MASK;
 121         }
 122
 123         /* Overwrite length_ if RTR flags is detected.
 124          * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
 125         if (frame.can_id & CAN_RTR_FLAG)
 126         {
 127                 rtr_flag = true;
 128                 if(frame.len && frame.len <= CAN_MAX_DLC)
 129                 {
 130                         if(rtr_flag)
 131                                 length = frame.len& 0xF;
 132                         else
 133                         {
 134                                 length = (frame.len > maxdlen) ? maxdlen : frame.len;
 135                         }
 136                 }
 137         }
 138         else
 139         {
 140                 length = (frame.len > maxdlen) ? maxdlen : frame.len;
 141
 142                 /* Flags field only present for CAN FD frames*/
 143                 if(maxdlen == CANFD_MAX_DLEN)
 144                                 flags = frame.flags & 0xF;
 145
 146                 if (data.capacity() < maxdlen)
 147                         data.reserve(maxdlen);
 148                                 int i;
 149
 150                         data.clear();
 151                         /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
 152                         for(i=0;i<maxdlen;i++)
 153                         {
 154                                 data.push_back(frame.data[i]);
 155                         };
 156
 157                 AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
 158                                                                 id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
 159         }
 160
 161         return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp));
 162 }
 163
 164 /// @brief Take all initialized class members and build a
 165 /// canfd_frame struct that can be use to send a CAN message over
 166 /// the bus.
 167 ///
 168 /// @return canfd_frame struct built from class members.
 169 struct canfd_frame can_message_t::convert_to_canfd_frame()
 170 {
 171         canfd_frame frame;
 172
 173         if(is_correct_to_send())
 174         {
 175                 frame.can_id = get_id();
 176                 frame.len = (uint8_t) get_length();
 177                 ::memcpy(frame.data, get_data(), length_);
 178         }
 179         else
 180                 AFB_ERROR("can_message_t not correctly initialized to be sent");
 181
 182         return frame;
 183 }
 184
 185 /// @brief Take all initialized class members and build a
 186 /// canfd_frame struct that can be use to send a CAN message over
 187 /// the bus.
 188 ///
 189 /// @return canfd_frame struct built from class members.
 190 struct std::vector<canfd_frame> can_message_t::convert_to_canfd_frame_vector()
 191 {
 192         std::vector<canfd_frame> ret;
 193         if(is_correct_to_send())
 194         {
 195                 if(flags_ & CAN_FD_FRAME)
 196                 {
 197                         int i=0;
 198                         do
 199                         {
 200                                 canfd_frame frame;
 201                                 frame.can_id = id_;
 202                                 frame.len = 64;
 203                                 std::vector<uint8_t> data = get_data_vector((i*64),(i*64)+63);
 204                                 if(data.size()<64)
 205                                 {
 206                                         ::memset(frame.data,0,sizeof(frame.data));
 207                                         ::memcpy(frame.data,data.data(),data.size());
 208                                 }
 209                                 else
 210                                 {
 211                                         ::memcpy(frame.data,data.data(),64);
 212                                 }
 213                                 ret.push_back(frame);
 214                                 i++;
 215                         } while (i<(length_ >> 6));
 216                 }
 217                 else
 218                 {
 219                         int i=0;
 220                         do
 221                         {
 222                                 canfd_frame frame;
 223                                 frame.can_id = id_;
 224                                 frame.len = 8;
 225                                 std::vector<uint8_t> data = get_data_vector(i*8,(i*8)+7);
 226                                 if(data.size()<8)
 227                                 {
 228                                         ::memset(frame.data,0,sizeof(frame.data));
 229                                         ::memcpy(frame.data,data.data(),data.size());
 230                                 }
 231                                 else
 232                                 {
 233                                         ::memset(frame.data,0,sizeof(frame.data));
 234                                         ::memcpy(frame.data,data.data(),8);
 235                                 }
 236                                 ret.push_back(frame);
 237                                 i++;
 238                         } while (i<(length_ >> 3));
 239                 }
 240         }
 241         else
 242                 AFB_ERROR("can_message_t not correctly initialized to be sent");
 243
 244         return ret;
 245 }
 246
 247 /// @brief Take all initialized class members and build a
 248 /// can_frame struct that can be use to send a CAN message over
 249 /// the bus.
 250 ///
 251 /// @return can_frame struct built from class members.
 252 struct can_frame can_message_t::convert_to_can_frame()
 253 {
 254         can_frame frame;
 255
 256         if(is_correct_to_send())
 257         {
 258                 frame.can_id = get_id();
 259                 frame.can_dlc = (uint8_t) get_length();
 260                 ::memcpy(frame.data, get_data(), length_);
 261         }
 262         else
 263                 AFB_ERROR("can_message_t not correctly initialized to be sent");
 264
 265         return frame;
 266 }
 267
 268 bool can_message_t::is_set()
 269 {
 270         return (id_ != 0 && length_ != 0);
 271 }
 272
 273 std::string can_message_t::get_debug_message()
 274 {
 275         std::string ret = "";
 276         ret = ret + "Here is the next can message : id " + std::to_string(id_)  + " length " + std::to_string(length_) + ", data ";
 277         for (size_t i = 0; i < data_.size(); i++)
 278         {
 279                 ret = ret + std::to_string(data_[i]);
 280         }
 281
 282         return ret;
 283 }
 284
 285 struct bcm_msg can_message_t::get_bcm_msg()
 286 {
 287         return bcm_msg_;
 288 }
 289
 290 void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
 291 {
 292         bcm_msg_ = bcm_msg;
 293 }