src/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 "low-can-binding.hpp"
  23
  24 /********************************************************************************
  25 *
  26 *               CanMessage method implementation
  27 *
  28 *********************************************************************************/
  29
  30 can_message_t::can_message_t()
  31         : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
  32 {}
  33
  34 uint32_t can_message_t::get_id() const
  35 {
  36         return id_;
  37 }
  38
  39 int can_message_t::get_format() const
  40 {
  41         if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
  42                 return CanMessageFormat::ERROR;
  43         return format_;
  44 }
  45
  46 const uint8_t* can_message_t::get_data() const
  47 {
  48         return data_;
  49 }
  50 uint8_t can_message_t::get_length() const
  51 {
  52         return length_;
  53 }
  54
  55 bool can_message_t::is_correct_to_send()
  56 {
  57         if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
  58         {
  59                 int i;
  60                 for(i=0;i<CAN_MESSAGE_SIZE;i++)
  61                         if(data_[i] != 0)
  62                                 return true;
  63         }
  64         return false;
  65 }
  66
  67 void can_message_t::set_id(const uint32_t new_id)
  68 {
  69         switch(format_)
  70         {
  71                 case CanMessageFormat::STANDARD:
  72                         id_ = new_id & CAN_SFF_MASK;
  73                         break;
  74                 case CanMessageFormat::EXTENDED:
  75                         id_ = new_id & CAN_EFF_MASK;
  76                         break;
  77                 default:
  78                         ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
  79                         break;
  80         }
  81 }
  82
  83 void can_message_t::set_format(const CanMessageFormat new_format)
  84 {
  85         if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
  86                 format_ = new_format;
  87         else
  88                 ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
  89 }
  90
  91 void can_message_t::set_data(const uint8_t new_data)
  92 {
  93         if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
  94                 ERROR(binder_interface, "Can set data, your data array is too big");
  95         else
  96         {
  97                 ::memcpy(&data_, &new_data, sizeof(new_data));
  98                 length_ = sizeof(new_data);
  99         }
 100 }
 101
 102 void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
 103 {
 104         length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
 105         length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
 106
 107         if (frame.can_id & CAN_ERR_FLAG)
 108         {
 109                 id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 110                 format_ = CanMessageFormat::ERROR;
 111         }
 112         else if (frame.can_id & CAN_EFF_FLAG)
 113         {
 114                 id_ = frame.can_id & CAN_EFF_MASK;
 115                 format_ = CanMessageFormat::EXTENDED;
 116         }
 117         else
 118         {
 119                 id_ = frame.can_id & CAN_SFF_MASK;
 120                 format_ = CanMessageFormat::STANDARD;
 121         }
 122         DEBUG(binder_interface, "");
 123
 124         if (sizeof(frame.data) <= sizeof(data_))
 125                 ::memcpy(&data_, frame.data, length_);
 126         else if (sizeof(frame.data) >= CAN_MAX_DLEN)
 127                 ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
 128 }
 129
 130 canfd_frame can_message_t::convert_to_canfd_frame()
 131 {
 132         canfd_frame frame;
 133
 134         if(is_correct_to_send())
 135         {
 136                 frame.can_id = get_id();
 137                 frame.len = get_length();
 138                 ::memcpy(frame.data, get_data(), length_);
 139         }
 140         else
 141                 ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
 142
 143         return frame;
 144 }
 145