Fix: improve can_message read

Change-Id: If0c52c6df3f68e9b79fb851d64a729946cac6ef6
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

diff --git a/src/can-bus.cpp b/src/can-bus.cpp
index 672e95e..989dfa2 100644 (file)
--- a/src/can-bus.cpp
+++ b/src/can-bus.cpp
@@ -279,7 +279,7 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
        has_vehicle_message_ = true;
 }
 
-std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices();
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
 {
        return can_devices_m_;
 }
@@ -372,24 +372,13 @@ canfd_frame can_bus_dev_t::read()
 
        nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
 
-       switch(nbytes)
-       {
-               case CANFD_MTU:
-                       DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
-                       //maxdlen = CANFD_MAX_DLEN;
-                       break;
-               case CAN_MTU:
-                       DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
-                       //maxdlen = CAN_MAX_DLEN;
-                       break;
-               default:
-                       if (errno == ENETDOWN)
-                                       ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
-                       ERROR(binder_interface, "read_can: Error reading CAN bus");
-                       ::memset(&canfd_frame, 0, sizeof(canfd_frame));
-                       is_running_ = false;
-                       break;
-       }
+       /* if we did not fit into CAN sized messages then stop_reading. */
+       if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
+               if (errno == ENETDOWN)
+                       ERROR(binder_interface, "read: %s CAN device down", device_name_);
+               ERROR(binder_interface, "read: Error reading CAN bus");
+               ::memset(&canfd_frame, 0, sizeof(canfd_frame));
+               stop_reading();
 
        return canfd_frame;
 }

diff --git a/src/can-bus.hpp b/src/can-bus.hpp
index 8d40ff0..991bf62 100644 (file)
--- a/src/can-bus.hpp
+++ b/src/can-bus.hpp
@@ -189,7 +189,7 @@ class can_bus_t {
                 *
                 * @return map can_bus_dev_m_ map
                 */
-               std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_bus_devices();
+               std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
 };
 
 

diff --git a/src/can-message.cpp b/src/can-message.cpp
index d40dbc4..77fce68 100644 (file)
--- a/src/can-message.cpp
+++ b/src/can-message.cpp
@@ -28,7 +28,7 @@
 *********************************************************************************/
 
 can_message_t::can_message_t()
-       : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
+       : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}
 {}
 
 uint32_t can_message_t::get_id() const
@@ -36,6 +36,11 @@ uint32_t can_message_t::get_id() const
        return id_;
 }
 
+bool can_message_t::get_rtr_flag_() const
+{
+       return rtr_flag_;
+}
+
 int can_message_t::get_format() const
 {
        if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
@@ -43,6 +48,11 @@ int can_message_t::get_format() const
        return format_;
 }
 
+uint8_t can_message_t::get_flags() const
+{
+       return flags_;
+}
+
 const uint8_t* can_message_t::get_data() const
 {
        return data_;
@@ -52,6 +62,26 @@ uint8_t can_message_t::get_length() const
        return length_;
 }
 
+void can_message_t::set_max_data_length(const struct canfd_frame& frame)
+{
+       maxdlen_ = 0;
+
+       switch(sizeof(frame))
+       {
+               case CANFD_MTU:
+                       DEBUG(binder_interface, "convert_from_canfd_frame: Got an CAN FD frame with length %d and flags %d", frame.len, frame.flags);
+                       maxdlen_ = CANFD_MAX_DLEN;
+                       break;
+               case CAN_MTU:
+                       DEBUG(binder_interface, "convert_from_canfd_frame: Got a legacy CAN frame with length %d", frame.len);
+                       maxdlen_ = CAN_MAX_DLEN;
+                       break;
+               default:
+                       ERROR(binder_interface, "convert_from_canfd_frame: unsupported CAN frame");
+                       break;
+       }
+}
+
 bool can_message_t::is_correct_to_send()
 {
        if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
@@ -64,8 +94,9 @@ bool can_message_t::is_correct_to_send()
        return false;
 }
 
-void can_message_t::set_id(const uint32_t new_id)
+void can_message_t::set_id_and_format(const uint32_t new_id)
 {
+       set_format(new_id);
        switch(format_)
        {
                case CanMessageFormat::STANDARD:
@@ -74,6 +105,9 @@ void can_message_t::set_id(const uint32_t new_id)
                case CanMessageFormat::EXTENDED:
                        id_ = new_id & CAN_EFF_MASK;
                        break;
+               case CanMessageFormat::ERROR:
+                       id_ = new_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;
@@ -82,49 +116,77 @@ void can_message_t::set_id(const uint32_t new_id)
 
 void can_message_t::set_format(const CanMessageFormat new_format)
 {
-       if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
+       if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED || new_format == CanMessageFormat::ERROR)
                format_ = new_format;
        else
                ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
 }
 
-void can_message_t::set_data(const uint8_t new_data)
+void can_message_t::set_format(const uint32_t can_id)
 {
-       if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
-               ERROR(binder_interface, "Can set data, your data array is too big");
+       if (can_id & CAN_ERR_FLAG)
+               format_ = CanMessageFormat::ERROR;
+       else if (can_id & CAN_EFF_FLAG)
+               format_ = CanMessageFormat::EXTENDED;
        else
-       {
-               ::memcpy(&data_, &new_data, sizeof(new_data));
-               length_ = sizeof(new_data);
-       }
+               format_ = CanMessageFormat::STANDARD;
 }
 
-void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
+void can_message_t::set_flags(const uint8_t flags)
 {
-       length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
-       length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
+       flags_ = flags & 0xF;
+}
 
-       if (frame.can_id & CAN_ERR_FLAG)
+void can_message_t::set_length(const uint8_t new_length)
+{
+       if(rtr_flag_)
+               length_ = new_length & 0xF;
+       else
        {
-               id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
-               format_ = CanMessageFormat::ERROR;
+               length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
        }
-       else if (frame.can_id & CAN_EFF_FLAG)
+}
+
+void can_message_t::set_data(const __u8 new_data[], size_t dlen)
+{
+       if (sizeof(dlen)/sizeof(__u8) > maxdlen_)
+               ERROR(binder_interface, "Can set data, too big ! It is a CAN frame ?");
+       else
        {
-               id_ = frame.can_id & CAN_EFF_MASK;
-               format_ = CanMessageFormat::EXTENDED;
+               int i;
+               /* Limiting to 8 bytes message for now on 64 bytes from fd frames*/
+               for(i=0;i<CAN_MESSAGE_SIZE;i++)
+               {
+                       data_[i] = new_data[i];
+               }
        }
-       else
+}
+
+void can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame)
+{
+       set_max_data_length(frame);
+       set_length(frame.len);
+       set_id_and_format(frame.can_id);
+
+       /* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+       if (frame.can_id & CAN_RTR_FLAG)
        {
-               id_ = frame.can_id & CAN_SFF_MASK;
-               format_ = CanMessageFormat::STANDARD;
+               rtr_flag_ = true;
+               if(frame.len && frame.len <= CAN_MAX_DLC)
+                       set_length(frame.len);
+               return;
        }
-       DEBUG(binder_interface, "");
 
-       if (sizeof(frame.data) <= sizeof(data_))
-               ::memcpy(&data_, frame.data, length_);
-       else if (sizeof(frame.data) >= CAN_MAX_DLEN)
-               ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
+       /* Flags field only present for CAN FD frames*/
+       if(maxdlen_ == CANFD_MAX_DLEN)
+               set_flags(frame.flags);
+
+       size_t dlen = sizeof(frame.data);
+       memset(data_, 0, dlen);
+       set_data(frame.data, dlen);
+
+       DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %d, format: %d, length: %d, data %d%d%d%d%d%d%d%d", id_, format_, length_,
+                                                       data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
 }
 
 canfd_frame can_message_t::convert_to_canfd_frame()

diff --git a/src/can-message.hpp b/src/can-message.hpp
index 6e51d92..f24c170 100644 (file)
--- a/src/can-message.hpp
+++ b/src/can-message.hpp
@@ -57,10 +57,14 @@ 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.*/
                uint8_t data_[CAN_MESSAGE_SIZE]; /*!< 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:
                /**
                 * @brief Class constructor
@@ -76,6 +80,13 @@ class can_message_t {
                 */
                uint32_t get_id() const;
                
+               /**
+                * @brief Retrieve RTR flag member.
+                *
+                * @return bool rtr_flags_ class member
+                */
+               bool get_rtr_flag_() const;
+
                /**
                 * @brief Retrieve format_ member value.
                 *
@@ -83,6 +94,13 @@ class can_message_t {
                 */
                int get_format() const;
                
+               /**
+                * @brief Retrieve format_ member value.
+                *
+                * @return CanMessageFormat format_ class member
+                */
+               uint8_t get_flags() const;
+               
                /**
                 * @brief Retrieve data_ member value.
                 *
@@ -96,6 +114,8 @@ class can_message_t {
                 * @return uint8_t length_ class member
                 */
                uint8_t get_length() const;
+               
+               void set_max_data_length(const struct canfd_frame& frame);
 
                /**
                 * @brief Control whether the object is correctly initialized
@@ -113,7 +133,7 @@ class can_message_t {
                 *
                 * @param uint32_t id_ class member
                 */
-               void set_id(const uint32_t new_id);
+               void set_id_and_format(const uint32_t new_id);
                
                /**
                 * @brief Set format_ member value.
@@ -123,8 +143,29 @@ class can_message_t {
                 *
                 * @param CanMessageFormat format_ class member
                 */
-               void set_format(const CanMessageFormat format);
+               void set_format(const CanMessageFormat new_format);
                
+               /**
+                * @brief Set format_ member value. Deducing from the can_id
+                *  of a canfd_frame.
+                *
+                * Preferred way to initialize these members by using 
+                * convert_from_canfd_frame method.
+                *
+                * @param uint32_t can_id integer from a canfd_frame
+                */
+               void set_format(const uint32_t can_id);
+
+               /**
+                * @brief Set format_ member value.
+                *
+                * Preferred way to initialize these members by using 
+                * convert_from_canfd_frame method.
+                *
+                * @param CanMessageFormat format_ class member
+                */
+               void set_flags(const uint8_t flags);
+
                /**
                 * @brief Set data_ member value.
                 *
@@ -133,7 +174,7 @@ class can_message_t {
                 *
                 * @param uint8_t data_ array with a max size of 8 elements.
                 */
-               void set_data(const uint8_t new_data);
+               void set_data(const __u8 new_data[], size_t dlen);
                
                /**
                 * @brief Set length_ member value.
@@ -152,7 +193,7 @@ class can_message_t {
                 *
                 * @param canfd_frame struct read from can bus device.
                 */
-               void convert_from_canfd_frame(const canfd_frame& frame);
+               void convert_from_canfd_frame(const struct canfd_frame& frame);
                
                /**
                 * @brief Take all initialized class's members and build an