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 void can_message_t::set_id(const canid_t id)
  59 {
  60         id_ = id;
  61 }
  62
  63 /// @brief Control whether the object is correctly initialized
  64 ///  to be sent over the CAN bus
  65 ///
  66 /// @return True if object correctly initialized and false if not.
  67 bool can_message_t::is_correct_to_send()
  68 {
  69         if (id_ != 0 && length_ != 0 && !(flags_&INVALID_FLAG))
  70         {
  71                 int i;
  72                 for(i=0;i<length_;i++)
  73                         if(data_[i] != 0)
  74                                 return true;
  75         }
  76         return false;
  77 }
  78
  79 /// @brief Take a canfd_frame struct to initialize class members
  80 ///
  81 /// This is the preferred way to initialize class members.
  82 ///
  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.
  85 ///
  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)
  88 {
  89         uint32_t maxdlen = 0, length = 0;
  90         uint32_t flags = 0;
  91         uint32_t id;
  92         bool rtr_flag;
  93         std::vector<uint8_t> data;
  94
  95         switch(nbytes)
  96         {
  97                 case CANFD_MTU:
  98                         AFB_DEBUG("Got an CAN FD frame");
  99                         maxdlen = CANFD_MAX_DLEN;
 100                         break;
 101                 case CAN_MTU:
 102                         AFB_DEBUG("Got a legacy CAN frame");
 103                         maxdlen = CAN_MAX_DLEN;
 104                         break;
 105                 default:
 106                         AFB_ERROR("unsupported CAN frame");
 107                         break;
 108         }
 109
 110         if (frame.can_id & CAN_ERR_FLAG)
 111         {
 112                 flags = flags|INVALID_FLAG;
 113                 id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 114         }
 115         else if (frame.can_id & CAN_EFF_FLAG)
 116         {
 117                 flags = flags|EXTENDED_ID;
 118                 id = frame.can_id & CAN_EFF_MASK;
 119         }
 120         else
 121         {
 122                 flags = flags|STANDARD_ID;
 123                 id = frame.can_id & CAN_SFF_MASK;
 124         }
 125
 126         /* Overwrite length_ if RTR flags is detected.
 127          * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
 128         if (frame.can_id & CAN_RTR_FLAG)
 129         {
 130                 rtr_flag = true;
 131                 if(frame.len && frame.len <= CAN_MAX_DLC)
 132                 {
 133                         if(rtr_flag)
 134                                 length = frame.len& 0xF;
 135                         else
 136                         {
 137                                 length = (frame.len > maxdlen) ? maxdlen : frame.len;
 138                         }
 139                 }
 140         }
 141         else
 142         {
 143                 length = (frame.len > maxdlen) ? maxdlen : frame.len;
 144
 145                 /* Flags field only present for CAN FD frames*/
 146                 /*if(maxdlen == CANFD_MAX_DLEN)
 147                                 flags = frame.flags & 0xF;*/
 148
 149                 if (data.capacity() < maxdlen)
 150                         data.reserve(maxdlen);
 151                                 int i;
 152
 153                         data.clear();
 154                         /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
 155                         for(i=0;i<maxdlen;i++)
 156                         {
 157                                 data.push_back(frame.data[i]);
 158                         };
 159
 160                 AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
 161                                                                 id, (uint32_t)flags, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
 162         }
 163
 164         return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, rtr_flag, flags, data, timestamp));
 165 }
 166
 167 /// @brief Take all initialized class members and build a
 168 /// canfd_frame struct that can be use to send a CAN message over
 169 /// the bus.
 170 ///
 171 /// @return canfd_frame struct built from class members.
 172 struct canfd_frame can_message_t::convert_to_canfd_frame()
 173 {
 174         canfd_frame frame;
 175
 176         if(is_correct_to_send())
 177         {
 178                 frame.can_id = get_id();
 179                 frame.len = (uint8_t) get_length();
 180                 ::memcpy(frame.data, get_data(), length_);
 181         }
 182         else
 183                 AFB_ERROR("can_message_t not correctly initialized to be sent");
 184
 185         return frame;
 186 }
 187
 188 /// @brief Take all initialized class members and build a
 189 /// canfd_frame struct that can be use to send a CAN message over
 190 /// the bus.
 191 ///
 192 /// @return canfd_frame struct built from class members.
 193 struct std::vector<canfd_frame> can_message_t::convert_to_canfd_frame_vector()
 194 {
 195         std::vector<canfd_frame> ret;
 196         if(is_correct_to_send())
 197         {
 198                 if(flags_ & CAN_FD_FRAME)
 199                 {
 200                         int i=0;
 201                         do
 202                         {
 203                                 canfd_frame frame;
 204                                 frame.can_id = id_;
 205                                 frame.len = 64;
 206                                 std::vector<uint8_t> data = get_data_vector((i*64),(i*64)+63);
 207                                 if(data.size()<64)
 208                                 {
 209                                         ::memset(frame.data,0,sizeof(frame.data));
 210                                         ::memcpy(frame.data,data.data(),data.size());
 211                                 }
 212                                 else
 213                                 {
 214                                         ::memcpy(frame.data,data.data(),64);
 215                                 }
 216                                 ret.push_back(frame);
 217                                 i++;
 218                         } while (i<(length_ >> 6));
 219                 }
 220                 else
 221                 {
 222                         int i=0;
 223                         do
 224                         {
 225                                 canfd_frame frame;
 226                                 frame.can_id = id_;
 227                                 frame.len = 8;
 228                                 std::vector<uint8_t> data = get_data_vector(i*8,(i*8)+7);
 229                                 if(data.size()<8)
 230                                 {
 231                                         ::memset(frame.data,0,sizeof(frame.data));
 232                                         ::memcpy(frame.data,data.data(),data.size());
 233                                 }
 234                                 else
 235                                 {
 236                                         ::memset(frame.data,0,sizeof(frame.data));
 237                                         ::memcpy(frame.data,data.data(),8);
 238                                 }
 239                                 ret.push_back(frame);
 240                                 i++;
 241                         } while (i<(length_ >> 3));
 242                 }
 243         }
 244         else
 245                 AFB_ERROR("can_message_t not correctly initialized to be sent");
 246
 247         return ret;
 248 }
 249
 250 /// @brief Take all initialized class members and build a
 251 /// can_frame struct that can be use to send a CAN message over
 252 /// the bus.
 253 ///
 254 /// @return can_frame struct built from class members.
 255 struct can_frame can_message_t::convert_to_can_frame()
 256 {
 257         can_frame frame;
 258
 259         if(is_correct_to_send())
 260         {
 261                 frame.can_id = get_id();
 262                 frame.can_dlc = (uint8_t) get_length();
 263                 ::memcpy(frame.data, get_data(), length_);
 264         }
 265         else
 266                 AFB_ERROR("can_message_t not correctly initialized to be sent");
 267
 268         return frame;
 269 }
 270
 271 bool can_message_t::is_set()
 272 {
 273         return (id_ != 0 && length_ != 0);
 274 }
 275
 276 std::string can_message_t::get_debug_message()
 277 {
 278         std::string ret = "";
 279         ret = ret + "Here is the next can message : id " + std::to_string(id_)  + " length " + std::to_string(length_) + ", data ";
 280         for (size_t i = 0; i < data_.size(); i++)
 281         {
 282                 ret = ret + std::to_string(data_[i]);
 283         }
 284
 285         return ret;
 286 }
 287
 288 struct bcm_msg& can_message_t::get_bcm_msg()
 289 {
 290         return bcm_msg_;
 291 }
 292
 293 void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
 294 {
 295         bcm_msg_ = bcm_msg;
 296 }