#include <cstring>
-#include "../low-can-binding.hpp"
+#include "../binding/low-can-hat.hpp"
///
/// @brief Class constructor
/// Constructor about can_message_t class.
///
can_message_t::can_message_t()
- : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}
+ : maxdlen_{0},
+ id_{0},
+ length_{0},
+ format_{can_message_format_t::INVALID},
+ rtr_flag_{false},
+ flags_{0},
+ timestamp_{0},
+ sub_id_{-1}
{}
can_message_t::can_message_t(uint8_t maxdlen,
can_message_format_t format,
bool rtr_flag,
uint8_t flags,
- std::vector<uint8_t> data)
+ std::vector<uint8_t>& data,
+ uint64_t timestamp)
: maxdlen_{maxdlen},
id_{id},
length_{length},
format_{format},
rtr_flag_{rtr_flag},
flags_{flags},
- data_{data}
+ data_{data},
+ timestamp_{timestamp},
+ sub_id_{-1}
{}
///
return id_;
}
+int can_message_t::get_sub_id() const
+{
+ return sub_id_;
+}
+
///
/// @brief Retrieve RTR flag member.
///
///
/// @brief Retrieve format_ member value.
///
-/// @return format_ class member
+/// @return format_ class member. Default to INVALID.
///
can_message_format_t can_message_t::get_format() const
{
if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
- return can_message_format_t::ERROR;
+ return can_message_format_t::INVALID;
return format_;
}
return data_.data();
}
+///
+/// @brief Retrieve data_ member whole vector
+///
+/// @return the vector as is
+///
+const std::vector<uint8_t> can_message_t::get_data_vector() const
+{
+ return data_;
+}
+
///
/// @brief Retrieve length_ member value.
///
return length_;
}
-///
+void can_message_t::set_sub_id(int sub_id)
+{
+ sub_id_ = sub_id;
+}
+
+uint64_t can_message_t::get_timestamp() const
+{
+ return timestamp_;
+}
+
+void can_message_t::set_timestamp(uint64_t timestamp)
+{
+ timestamp_ = timestamp;
+}
+
/// @brief Control whether the object is correctly initialized
/// to be sent over the CAN bus
///
-/// @return true if object correctly initialized and false if not.
-///
+/// @return True if object correctly initialized and false if not.
bool can_message_t::is_correct_to_send()
{
- if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::ERROR)
+ if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID)
{
int i;
for(i=0;i<CAN_MESSAGE_SIZE;i++)
return false;
}
-///
/// @brief Set format_ member value.
///
/// Preferred way to initialize these members by using
/// convert_from_canfd_frame method.
///
/// @param[in] new_format - class member
-///
void can_message_t::set_format(const can_message_format_t new_format)
{
- if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR)
+ if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID)
format_ = new_format;
else
- ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
+ AFB_ERROR("Can set format, wrong format chosen");
}
-///
/// @brief Take a canfd_frame struct to initialize class members
///
/// This is the preferred way to initialize class members.
/// @param[in] nbytes - bytes read from socket read operation.
///
/// @return A can_message_t object fully initialized with canfd_frame values.
-///
-can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
+can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
{
uint8_t maxdlen, length, flags = (uint8_t)NULL;
uint32_t id;
switch(nbytes)
{
case CANFD_MTU:
- DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
+ AFB_DEBUG("Got an CAN FD frame");
maxdlen = CANFD_MAX_DLEN;
break;
case CAN_MTU:
- DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
+ AFB_DEBUG("Got a legacy CAN frame");
maxdlen = CAN_MAX_DLEN;
break;
default:
- ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
+ AFB_ERROR("unsupported CAN frame");
break;
}
if (frame.can_id & CAN_ERR_FLAG)
- format = can_message_format_t::ERROR;
+ {
+ format = can_message_format_t::INVALID;
+ id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ }
else if (frame.can_id & CAN_EFF_FLAG)
+ {
format = can_message_format_t::EXTENDED;
+ id = frame.can_id & CAN_EFF_MASK;
+ }
else
- format = can_message_format_t::STANDARD;
-
- switch(format)
{
- case can_message_format_t::STANDARD:
- id = frame.can_id & CAN_SFF_MASK;
- break;
- case can_message_format_t::EXTENDED:
- id = frame.can_id & CAN_EFF_MASK;
- break;
- case can_message_format_t::ERROR:
- id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- break;
- default:
- ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
- break;
+ format = can_message_format_t::STANDARD;
+ id = frame.can_id & CAN_SFF_MASK;
}
/* Overwrite length_ if RTR flags is detected.
data.push_back(frame.data[i]);
};
- DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+ AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
}
- return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data);
+ return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
}
+/// @brief Take a can_frame struct to initialize class members
///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - can_frame to convert coming from a read of CAN socket
+/// @param[in] nbytes - bytes read from socket read operation.
+///
+/// @return A can_message_t object fully initialized with can_frame values.
+can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
+{
+ uint8_t maxdlen, length, flags = (uint8_t)NULL;
+ uint32_t id;
+ can_message_format_t format;
+ bool rtr_flag;
+ std::vector<uint8_t> data;
+
+ if(nbytes <= CAN_MTU)
+ {
+ AFB_DEBUG("Got a legacy CAN frame");
+ maxdlen = CAN_MAX_DLEN;
+ }
+ else
+ {
+ AFB_ERROR("unsupported CAN frame");
+ }
+
+ if (frame.can_id & CAN_ERR_FLAG)
+ {
+ format = can_message_format_t::INVALID;
+ id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ }
+ else if (frame.can_id & CAN_EFF_FLAG)
+ {
+ format = can_message_format_t::EXTENDED;
+ id = frame.can_id & CAN_EFF_MASK;
+ }
+ else
+ {
+ format = can_message_format_t::STANDARD;
+ id = frame.can_id & CAN_SFF_MASK;
+ }
+
+ /* Overwrite length_ if RTR flags is detected.
+ * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+ if (frame.can_id & CAN_RTR_FLAG)
+ {
+ rtr_flag = true;
+ if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
+ {
+ if(rtr_flag)
+ length = frame.can_dlc& 0xF;
+ else
+ {
+ length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+ }
+ }
+ }
+ else
+ {
+ length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+
+ if (data.capacity() < maxdlen)
+ data.reserve(maxdlen);
+ int i;
+
+ data.clear();
+ /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
+ for(i=0;i<maxdlen;i++)
+ {
+ data.push_back(frame.data[i]);
+ };
+
+// AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+// id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+ }
+
+ return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
+}
+
/// @brief Take all initialized class's members and build an
/// canfd_frame struct that can be use to send a CAN message over
/// the bus.
///
/// @return canfd_frame struct built from class members.
-///
-canfd_frame can_message_t::convert_to_canfd_frame()
+struct canfd_frame can_message_t::convert_to_canfd_frame()
{
canfd_frame frame;
::memcpy(frame.data, get_data(), length_);
}
else
- ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
+ AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+ return frame;
+}
+
+/// @brief Take all initialized class's members and build an
+/// can_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return can_frame struct built from class members.
+struct can_frame can_message_t::convert_to_can_frame()
+{
+ can_frame frame;
+
+ if(is_correct_to_send())
+ {
+ frame.can_id = get_id();
+ frame.can_dlc = get_length();
+ ::memcpy(frame.data, get_data(), length_);
+ }
+ else
+ AFB_ERROR("can_message_t not correctly initialized to be sent");
return frame;
}
Code Review / apps / low-level-can-service.git / blobdiff