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Message: Create a type system so non-frame data can be represented

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This change breaks existing code, hence the version bump, but it's
going to be much less error prone going forward.
This commit is contained in:
Paul Hollinsky
2021-05-22 01:58:36 -04:00
parent 21e93d1f73
commit 21bc4eeff2
48 changed files with 853 additions and 527 deletions
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communication/packet/canpacket.cpp
+64 -49
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@@ -1,4 +1,5 @@
#include "icsneo/communication/packet/canpacket.h"
#include "icsneo/communication/message/canerrorcountmessage.h"
#include "icsneo/platform/optional.h"
using namespace icsneo;
@@ -6,7 +7,7 @@ using namespace icsneo;
static optional<uint8_t> CANFD_DLCToLength(uint8_t length) {
if (length < 8)
return length;
switch(length) {
case 0x9:
return 12;
@@ -26,61 +27,75 @@ static optional<uint8_t> CANFD_DLCToLength(uint8_t length) {
return nullopt;
}
std::shared_ptr<CANMessage> HardwareCANPacket::DecodeToMessage(const std::vector<uint8_t>& bytestream) {
std::shared_ptr<Message> HardwareCANPacket::DecodeToMessage(const std::vector<uint8_t>& bytestream) {
const HardwareCANPacket* data = (const HardwareCANPacket*)bytestream.data();
auto msg = std::make_shared<CANMessage>();
if(data->dlc.RB1) { // Change counts reporting
// Arb ID
if(data->header.IDE) { // Extended 29-bit ID
msg->arbid = (data->header.SID & 0x7ff) << 18;
msg->arbid |= (data->eid.EID & 0xfff) << 6;
msg->arbid |= (data->dlc.EID2 & 0x3f);
msg->isExtended = true;
} else { // Standard 11-bit ID
msg->arbid = data->header.SID;
}
const bool busOff = data->data[0] & 0b00100000;
// This timestamp is raw off the device (in timestampResolution increments)
// Decoder will fix as it has information about the timestampResolution increments
msg->timestamp = data->timestamp.TS;
auto msg = std::make_shared<CANErrorCountMessage>(data->data[2], data->data[1], busOff);
// DLC
uint8_t length = data->dlc.DLC;
msg->dlcOnWire = length; // This will hold the real DLC on wire 0x0 - 0xF
if(data->header.EDL && data->timestamp.IsExtended) { // CAN FD
msg->isCANFD = true;
msg->baudrateSwitch = data->header.BRS; // CAN FD Baudrate Switch
msg->errorStateIndicator = data->header.ESI;
const optional<uint8_t> lenFromDLC = CANFD_DLCToLength(length);
if (lenFromDLC)
length = *lenFromDLC;
} else if(length > 8) { // This is a standard CAN frame with a length of more than 8
// Yes, this is possible. On the wire, the length field is a nibble, and we do want to return an accurate value
// We don't want to overread our buffer, though, so make sure we cap the length
length = 8;
}
// Data
// The first 8 bytes are always in the standard place
if((data->dlc.RTR && data->header.IDE) || (!data->header.IDE && data->header.SRR)) { // Remote Request Frame
msg->data.resize(length); // This data will be all zeros, but the length will be set
msg->isRemote = true;
} else {
msg->data.reserve(length);
msg->data.insert(msg->data.end(), data->data, data->data + (length > 8 ? 8 : length));
if(length > 8) { // If there are more than 8 bytes, they come at the end of the message
// Messages with extra data are formatted as message, then uint16_t netid, then uint16_t length, then extra data
const auto extraDataStart = bytestream.begin() + sizeof(HardwareCANPacket) + 2 + 2;
msg->data.insert(msg->data.end(), extraDataStart, extraDataStart + (length - 8));
// This timestamp is raw off the device (in timestampResolution increments)
// Decoder will fix as it has information about the timestampResolution increments
msg->timestamp = data->timestamp.TS;
return msg;
} else { // CAN Frame
auto msg = std::make_shared<CANMessage>();
// Arb ID
if(data->header.IDE) { // Extended 29-bit ID
msg->arbid = (data->header.SID & 0x7ff) << 18;
msg->arbid |= (data->eid.EID & 0xfff) << 6;
msg->arbid |= (data->dlc.EID2 & 0x3f);
msg->isExtended = true;
} else { // Standard 11-bit ID
msg->arbid = data->header.SID;
}
// This timestamp is raw off the device (in timestampResolution increments)
// Decoder will fix as it has information about the timestampResolution increments
msg->timestamp = data->timestamp.TS;
// DLC
uint8_t length = data->dlc.DLC;
msg->dlcOnWire = length; // This will hold the real DLC on wire 0x0 - 0xF
if(data->header.EDL && data->timestamp.IsExtended) { // CAN FD
msg->isCANFD = true;
msg->baudrateSwitch = data->header.BRS; // CAN FD Baudrate Switch
msg->errorStateIndicator = data->header.ESI;
const optional<uint8_t> lenFromDLC = CANFD_DLCToLength(length);
if (lenFromDLC)
length = *lenFromDLC;
} else if(length > 8) { // This is a standard CAN frame with a length of more than 8
// Yes, this is possible. On the wire, the length field is a nibble, and we do want to return an accurate value
// We don't want to overread our buffer, though, so make sure we cap the length
length = 8;
}
// Data
// The first 8 bytes are always in the standard place
if((data->dlc.RTR && data->header.IDE) || (!data->header.IDE && data->header.SRR)) { // Remote Request Frame
msg->data.resize(length); // This data will be all zeros, but the length will be set
msg->isRemote = true;
} else {
msg->data.reserve(length);
msg->data.insert(msg->data.end(), data->data, data->data + (length > 8 ? 8 : length));
if(length > 8) { // If there are more than 8 bytes, they come at the end of the message
// Messages with extra data are formatted as message, then uint16_t netid, then uint16_t length, then extra data
const auto extraDataStart = bytestream.begin() + sizeof(HardwareCANPacket) + 2 + 2;
msg->data.insert(msg->data.end(), extraDataStart, extraDataStart + (length - 8));
}
}
msg->transmitted = data->eid.TXMSG;
msg->error = data->eid.TXAborted || data->eid.TXError || data->eid.TXLostArb;
msg->description = data->stats;
return msg;
}
msg->transmitted = data->eid.TXMSG;
msg->error = data->eid.TXAborted || data->eid.TXError || data->eid.TXLostArb;
msg->description = data->stats;
return msg;
}
bool HardwareCANPacket::EncodeFromMessage(const CANMessage& message, std::vector<uint8_t>& result, const device_eventhandler_t& report) {