X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-message.cpp;h=8221e303e6a1b194ee2d43f112223079445450f9;hb=2a4abf5bd6440e9cd5b98b70453d74ae3d1b8cfa;hp=f61de67e40194ef9ac17bf7c392fdb642a41aa04;hpb=9e444ade872bc436cf12bc12d03c3a5d51ac0b9e;p=apps%2Fagl-service-can-low-level.git

diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp
index f61de67e..8221e303 100644
--- a/low-can-binding/can/can-message.cpp
+++ b/low-can-binding/can/can-message.cpp
@@ -19,7 +19,7 @@
 
 #include <cstring>
 
-#include "../low-can-binding.hpp"
+#include "../binding/low-can-hat.hpp"
 
 ///
 /// @brief Class constructor
@@ -27,7 +27,14 @@
 /// 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,
@@ -36,14 +43,17 @@ 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}
 {}
 
 ///
@@ -56,6 +66,11 @@ uint32_t can_message_t::get_id() const
 	return id_;
 }
 
+int can_message_t::get_sub_id() const
+{
+	return sub_id_;
+}
+
 ///
 /// @brief Retrieve RTR flag member.
 ///
@@ -69,12 +84,12 @@ bool can_message_t::get_rtr_flag_() const
 ///
 /// @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_;
 }
 
@@ -99,6 +114,16 @@ const uint8_t* can_message_t::get_data() const
 	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.
 ///
@@ -109,15 +134,28 @@ uint8_t can_message_t::get_length() const
 	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++)
@@ -127,23 +165,20 @@ bool can_message_t::is_correct_to_send()
 	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.
@@ -152,10 +187,9 @@ void can_message_t::set_format(const can_message_format_t new_format)
 /// @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;
+	uint8_t maxdlen = 0, length = 0, flags = 0;
 	uint32_t id;
 	can_message_format_t format;
 	bool rtr_flag;
@@ -164,39 +198,32 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
 	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.
@@ -233,21 +260,98 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
 				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 = 0, length = 0, flags = 0;
+	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;
 
@@ -258,7 +362,28 @@ canfd_frame can_message_t::convert_to_canfd_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;
 }