#include <cstdint>
#include <linux/can.h>
-#include "can/can-bus.hpp"
-#include "utils/timer.hpp"
+#include "../utils/timer.hpp"
+#include "can-message-set.hpp"
#define CAN_MESSAGE_SIZE 8
+class can_bus_dev_t;
+
/**
- * @enum CanMessageFormat
+ * @enum can_message_format_t
* @brief The ID format for a CAN message.
*/
-enum CanMessageFormat {
+enum class can_message_format_t {
STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
};
-typedef enum CanMessageFormat CanMessageFormat;
/**
* @class can_message_t
* @brief A compact representation of a single CAN message, meant to be used in in/out
* buffers.
*/
-
-/*************************
- * old CanMessage struct *
- *************************
-struct CanMessage {
- uint32_t id;
- CanMessageFormat format;
- uint8_t data[CAN_MESSAGE_SIZE];
- uint8_t length;
-};
-typedef struct CanMessage CanMessage;
-*/
class can_message_t {
- private:
- uint32_t id_; /*!< uint32_t id - The ID of the message. */
- bool rtr_flag_; /*!< bool rtr_flag - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
- uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */
- uint8_t flags_; /*!< unint8_t flags of a CAN FD frame. Needed if we catch FD frames.*/
- CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
- std::vector<uint8_t> data_; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
-
- uint8_t maxdlen_;
-
- public:
- can_message_t();
-
- uint32_t get_id() const;
- bool get_rtr_flag_() const;
- int get_format() const;
- uint8_t get_flags() const;
- const uint8_t* get_data() const;
- uint8_t get_length() const;
-
- void set_max_data_length(size_t nbytes);
- void set_id_and_format(const uint32_t new_id);
- void set_format(const CanMessageFormat new_format);
- void set_format(const uint32_t can_id);
- void set_flags(const uint8_t flags);
- void set_data(const __u8* new_data);
- void set_length(const uint8_t new_length);
-
- bool is_correct_to_send();
-
- void convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args);
- canfd_frame convert_to_canfd_frame();
+private:
+ uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+ uint32_t id_; /*!< id_ - The ID of the message. */
+ uint8_t length_; /*!< length_ - the length of the data array (max 8). */
+ can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
+ bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
+ uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
+ std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+
+public:
+ can_message_t();
+ can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t> data);
+
+ uint32_t get_id() const;
+ bool get_rtr_flag_() const;
+ can_message_format_t get_format() const;
+ uint8_t get_flags() const;
+ const uint8_t* get_data() const;
+ uint8_t get_length() const;
+
+ void set_format(const can_message_format_t new_format);
+
+ bool is_correct_to_send();
+
+static can_message_t convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
+ canfd_frame convert_to_canfd_frame();
};
/**
- * @struct CanMessageDefinition
+ * @class can_message_definition_t
*
* @brief The definition of a CAN message. This includes a lot of metadata, so
* to save memory this struct should not be used for storing incoming and
* outgoing CAN messages.
*/
-struct CanMessageDefinition {
- //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */
- uint32_t id; /*!< id - The ID of the message.*/
- CanMessageFormat format; /*!< format - the format of the message's ID.*/
- FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this
- * message, if sent raw, or simply to mark the max frequency for custom
- * handlers to retriec++ if ? syntaxve.*/
- bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN
- * message if it has changed when using raw passthrough.*/
- uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined.
- * This is required for the forceSendChanged functionality, as the stack
- * needs to compare an incoming CAN message with the previous frame.*/
-};
-typedef struct CanMessageDefinition CanMessageDefinition;
-
class can_message_definition_t
{
private:
can_bus_dev_t& bus_; /*!< bus_ - A pointer to the bus this message is on. */
uint32_t id_; /*!< id_ - The ID of the message.*/
- CanMessageFormat format_; /*!< format_ - the format of the message's ID.*/
- FrequencyClock clock_; /*!< clock_ - an optional frequency clock to control the output of this
- * message, if sent raw, or simply to mark the max frequency for custom
- * handlers to retriec++ if ? syntaxve.*/
+ can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
+ frequency_clock_t clock_; /*!< clock_ - an optional frequency clock to control the output of this
+ * message, if sent raw, or simply to mark the max frequency for custom
+ * handlers to retrieve.*/
bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN
* message if it has changed when using raw passthrough.*/
- uint8_t last_value_[CAN_MESSAGE_SIZE]; /*!< last_value_ - The last received value of the message. Defaults to undefined.
+ std::vector<uint8_t> last_value_; /*!< last_value_ - The last received value of the message. Defaults to undefined.
* This is required for the forceSendChanged functionality, as the stack
* needs to compare an incoming CAN message with the previous frame.*/
public:
- uint32_t get_id();
-};
-
-/**
- * @struct CanMessageSet
- *
- * @brief A parent wrapper for a particular set of CAN messages and associated
- * CAN buses(e.g. a vehicle or program).
- */
- typedef struct {
- uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
- * for fast lookup*/
- const std::string name; /*!< name - The name of the message set.*/
- uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/
- unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for
- * this message set.*/
- unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for
- * this message set.*/
- unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/
-} CanMessageSet;
-
-class can_message_set_t
-{
- private:
- uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
- * for fast lookup*/
- const std::string name; /*!< name - The name of the message set.*/
- uint8_t can_bus_count; /*!< busCount - The number of CAN buses defined for this message set.*/
- unsigned short can_message_count; /*!< messageCount - The number of CAN messages (across all buses) defined for
- * this message set.*/
- unsigned short can_signal_count; /*!< signalCount - The number of CAN signals (across all messages) defined for
- * this message set.*/
- unsigned short can_command_count; /*!< commandCount - The number of CanCommmands defined for this message set.*/
- unsigned short obd2_signal_count; /*!< commandCount - The number of obd2 signals defined for this message set.*/
+ can_message_definition_t(can_bus_dev_t& cbd);
+ uint32_t get_id() const;
};
-/** Public: Return the currently active CAN configuration. */
-CanMessageSet* getActiveMessageSet();
-
/** Public: Retrive a list of all possible CAN configurations.
*
* Returns a pointer to an array of all configurations.
*/
-CanMessageSet* getMessageSets();
+can_message_set_t* getMessageSets();
/** Public: Return the length of the array returned by getMessageSets() */
int getMessageSetCount();
/* Public: Return an array of all CAN messages to be processed in the active
* configuration.
*/
-CanMessageDefinition* getMessages();
+can_message_definition_t* getMessages();
/* Public: Return the length of the array returned by getMessages(). */
int getMessageCount();
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff