sven
/
libicsneo
mirror of https://github.com/intrepidcs/libicsneo.git
1
0
Fork 0
Code Issues Projects Releases Wiki Activity

C2: CAN error message support

master
David Rebbe 2026-04-17 15:39:38 +00:00 committed by Kyle Schwarz
parent f5f6d0828b
commit 9c4323987f
10 changed files with 416 additions and 40 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

69
api/icsneoc2/icsneoc2messages.cpp
View File

@ -6,6 +6,7 @@
#include "icsneo/icsneocpp.h" #include "icsneo/icsneocpp.h"
#include "icsneo/communication/message/message.h" #include "icsneo/communication/message/message.h"
#include "icsneo/communication/message/canmessage.h" #include "icsneo/communication/message/canmessage.h"
#include "icsneo/communication/message/canerrormessage.h"
#include "icsneo/communication/message/linmessage.h" #include "icsneo/communication/message/linmessage.h"
#include "icsneo/communication/message/ethernetmessage.h" #include "icsneo/communication/message/ethernetmessage.h"
#include "icsneo/communication/packet/canpacket.h" #include "icsneo/communication/packet/canpacket.h"
@ -34,6 +35,19 @@ icsneoc2_error_t icsneoc2_message_is_transmit(icsneoc2_message_t* message, bool*
return icsneoc2_error_success; return icsneoc2_error_success;
} }
icsneoc2_error_t icsneoc2_message_is_error(icsneoc2_message_t* message, bool* value) {
if(!message || !value) {
return icsneoc2_error_invalid_parameters;
}
auto frame = std::dynamic_pointer_cast<Frame>(message->message);
if(!frame) {
return icsneoc2_error_invalid_type;
}
*value = frame->error;
return icsneoc2_error_success;
}
icsneoc2_error_t icsneoc2_message_netid_get(icsneoc2_message_t* message, icsneoc2_netid_t* netid) { icsneoc2_error_t icsneoc2_message_netid_get(icsneoc2_message_t* message, icsneoc2_netid_t* netid) {
if(!message || !netid) { if(!message || !netid) {
return icsneoc2_error_invalid_parameters; return icsneoc2_error_invalid_parameters;
@ -176,6 +190,15 @@ icsneoc2_error_t icsneoc2_message_can_props_get(icsneoc2_message_t* message, uin
if(can_msg->errorStateIndicator) { if(can_msg->errorStateIndicator) {
*flags |= ICSNEOC2_MESSAGE_CAN_FLAGS_ESI; *flags |= ICSNEOC2_MESSAGE_CAN_FLAGS_ESI;
} }
if(can_msg->txAborted) {
*flags |= ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ABORTED;
}
if(can_msg->txLostArb) {
*flags |= ICSNEOC2_MESSAGE_CAN_FLAGS_TX_LOST_ARB;
}
if(can_msg->txError) {
*flags |= ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR;
}
} }
return icsneoc2_error_success; return icsneoc2_error_success;
} }
@ -214,7 +237,53 @@ icsneoc2_error_t icsneoc2_message_is_can(icsneoc2_message_t* message, bool* is_c
} }
*is_can = std::dynamic_pointer_cast<CANMessage>(message->message) != nullptr; *is_can = std::dynamic_pointer_cast<CANMessage>(message->message) != nullptr;
return icsneoc2_error_success; return icsneoc2_error_success;
}
icsneoc2_error_t icsneoc2_message_is_can_error(icsneoc2_message_t* message, bool* is_can_error) {
if(!message || !is_can_error) {
return icsneoc2_error_invalid_parameters;
}
*is_can_error = std::dynamic_pointer_cast<CANErrorMessage>(message->message) != nullptr;
return icsneoc2_error_success;
}
icsneoc2_error_t icsneoc2_message_can_error_props_get(
icsneoc2_message_t *message, uint8_t *tx_err_count, uint8_t *rx_err_count,
icsneoc2_can_error_code_t *error_code,
icsneoc2_can_error_code_t *data_error_code,
icsneoc2_message_can_error_flags_t *flags) {
if(!message) {
return icsneoc2_error_invalid_parameters;
}
auto can_err = std::dynamic_pointer_cast<CANErrorMessage>(message->message);
if(!can_err) {
return icsneoc2_error_invalid_type;
}
if(tx_err_count) {
*tx_err_count = can_err->transmitErrorCount;
}
if(rx_err_count) {
*rx_err_count = can_err->receiveErrorCount;
}
if(error_code) {
*error_code = static_cast<icsneoc2_can_error_code_t>(can_err->errorCode);
}
if(data_error_code) {
*data_error_code = static_cast<icsneoc2_can_error_code_t>(can_err->dataErrorCode);
}
if(flags) {
*flags = 0;
if(can_err->busOff) {
*flags |= ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_BUS_OFF;
}
if(can_err->errorPassive) {
*flags |= ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_PASSIVE;
}
if(can_err->errorWarn) {
*flags |= ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_WARN;
}
}
return icsneoc2_error_success;
} }
icsneoc2_error_t icsneoc2_message_is_lin(icsneoc2_message_t* message, bool* is_lin) { icsneoc2_error_t icsneoc2_message_is_lin(icsneoc2_message_t* message, bool* is_lin) {

5
bindings/python/icsneopy/communication/message/canmessage.cpp
View File

@ -15,7 +15,10 @@ void init_canmessage(pybind11::module_& m) {
.def_readwrite("isExtended", &CANMessage::isExtended) .def_readwrite("isExtended", &CANMessage::isExtended)
.def_readwrite("isCANFD", &CANMessage::isCANFD) .def_readwrite("isCANFD", &CANMessage::isCANFD)
.def_readwrite("baudrateSwitch", &CANMessage::baudrateSwitch) .def_readwrite("baudrateSwitch", &CANMessage::baudrateSwitch)
.def_readwrite("errorStateIndicator", &CANMessage::errorStateIndicator); .def_readwrite("errorStateIndicator", &CANMessage::errorStateIndicator)
.def_readwrite("txAborted", &CANMessage::txAborted)
.def_readwrite("txLostArb", &CANMessage::txLostArb)
.def_readwrite("txError", &CANMessage::txError);
} }
} // namespace icsneo } // namespace icsneo

5
communication/packet/canpacket.cpp
View File

@ -119,7 +119,12 @@ std::shared_ptr<Message> HardwareCANPacket::DecodeToMessage(const std::vector<ui
} }
msg->transmitted = data->eid.TXMSG; msg->transmitted = data->eid.TXMSG;
// Set the generic frame error state
msg->error = data->eid.TXAborted || data->eid.TXError || data->eid.TXLostArb; msg->error = data->eid.TXAborted || data->eid.TXError || data->eid.TXLostArb;
// Set specific error states for CANError
msg->txAborted = data->eid.TXAborted;
msg->txLostArb = data->eid.TXLostArb;
msg->txError = data->eid.TXError;
msg->description = data->stats; msg->description = data->stats;
return msg; return msg;

97
examples/c2/read_messages/src/main.c
View File

@ -69,6 +69,8 @@ int print_error_code(const char* message, icsneoc2_error_t error) {
*/ */
int process_message(icsneoc2_message_t** messages, size_t messages_count); int process_message(icsneoc2_message_t** messages, size_t messages_count);
int transmit_can_messages(icsneoc2_device_t* device);
int main() { int main() {
// Open the first available device with default options // Open the first available device with default options
printf("Opening first available device...\n"); printf("Opening first available device...\n");
@ -88,6 +90,10 @@ int main() {
}; };
printf("\tOpened device: %s\n", description); printf("\tOpened device: %s\n", description);
// Transmit messages for debugging purposes
// transmit_can_messages(open_device);
// sleep_ms(1000);
// Get the messages // Get the messages
icsneoc2_message_t* messages[20000] = {0}; icsneoc2_message_t* messages[20000] = {0};
size_t message_count = 20000; size_t message_count = 20000;
@ -169,10 +175,49 @@ void print_events(const char* device_description) {
int process_message(icsneoc2_message_t** messages, size_t messages_count) { int process_message(icsneoc2_message_t** messages, size_t messages_count) {
// Print the type and bus type of each message // Print the type and bus type of each message
size_t tx_count = 0; size_t tx_count = 0;
size_t can_error_count = 0;
icsneoc2_error_t res = icsneoc2_error_success;
for(size_t i = 0; i < messages_count; i++) { for(size_t i = 0; i < messages_count; i++) {
icsneoc2_message_t* message = messages[i]; icsneoc2_message_t* message = messages[i];
bool is_can_error = false;
res = icsneoc2_message_is_can_error(message, &is_can_error);
if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to check if message is a CAN error", res);
}
if(is_can_error) {
icsneoc2_network_type_t network_type;
uint8_t tec = 0;
uint8_t rec = 0;
icsneoc2_can_error_code_t error_code = 0;
icsneoc2_can_error_code_t data_error_code = 0;
icsneoc2_message_can_error_flags_t error_flags = 0;
icsneoc2_netid_t netid = 0;
char network_type_name[128] = {0};
size_t network_type_name_length = 128;
char netid_name[128] = {0};
size_t netid_name_length = 128;
res = icsneoc2_message_network_type_get(message, &network_type);
res += icsneoc2_network_type_name_get(network_type, network_type_name, &network_type_name_length);
res += icsneoc2_message_netid_get(message, &netid);
res += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
res += icsneoc2_message_can_error_props_get(message, &tec, &rec, &error_code, &data_error_code, &error_flags);
if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to get CAN error properties", res);
}
printf("\t%zd) CAN Error on %s [%s] (0x%x): TEC=%u REC=%u ErrorCode=%u DataErrorCode=%u%s%s%s\n",
i, netid_name, network_type_name, netid, tec, rec, error_code, data_error_code,
(error_flags & ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_BUS_OFF) ? " [BusOff]" : "",
(error_flags & ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_PASSIVE) ? " [ErrorPassive]" : "",
(error_flags & ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_WARN) ? " [ErrorWarn]" : "");
can_error_count++;
continue;
}
bool is_frame = false; bool is_frame = false;
icsneoc2_error_t res = icsneoc2_message_is_frame(message, &is_frame); res = icsneoc2_message_is_frame(message, &is_frame);
if(res != icsneoc2_error_success) { if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to check if message is a frame", res); return print_error_code("\tFailed to check if message is a frame", res);
} }
@ -192,37 +237,55 @@ int process_message(icsneoc2_message_t** messages, size_t messages_count) {
if(res != icsneoc2_error_success) { if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to get message bus type name", res); return print_error_code("\tFailed to get message bus type name", res);
} }
bool is_tx = false;
res = icsneoc2_message_is_transmit(message, &is_tx);
if(res != icsneoc2_error_success) { if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to get message is transmit", res); return print_error_code("\tFailed to get message is transmit", res);
} }
if(is_tx) {
tx_count++;
continue;
}
printf("\t%zd) network type: %s (%u)\n", i, network_type_name, network_type); printf("\t%zd) network type: %s (%u)\n", i, network_type_name, network_type);
if(network_type == icsneoc2_network_type_can) { if(network_type == icsneoc2_network_type_can) {
uint32_t arbid = 0; uint64_t arbid = 0;
int32_t dlc = 0; int32_t dlc = 0;
icsneoc2_netid_t netid = 0; icsneoc2_netid_t netid = 0;
bool is_remote = false; icsneoc2_message_can_flags_t can_flags = 0;
bool is_canfd = false;
bool is_extended = false;
uint8_t data[64] = {0}; uint8_t data[64] = {0};
size_t data_length = 64; size_t data_length = 64;
char netid_name[128] = {0}; char netid_name[128] = {0};
size_t netid_name_length = 128; size_t netid_name_length = 128;
bool is_error = false;
bool is_tx = false;
icsneoc2_error_t result = icsneoc2_message_netid_get(message, &netid); icsneoc2_error_t result = icsneoc2_message_netid_get(message, &netid);
result += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length); result += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
result += icsneoc2_message_can_props_get(message, &arbid, &can_flags);
result += icsneoc2_message_data_get(message, data, &data_length); result += icsneoc2_message_data_get(message, data, &data_length);
result += icsneoc2_message_is_transmit(message, &is_tx);
result += icsneoc2_message_is_error(message, &is_error);
if(result != icsneoc2_error_success) { if(result != icsneoc2_error_success) {
printf("\tFailed get get CAN parameters (error: %u) for index %zu\n", result, i); printf("\tFailed get get CAN parameters (error: %u) for index %zu\n", result, i);
continue; continue;
} }
printf("\t NetID: %s (0x%x)\tArbID: 0x%x\t DLC: %u\t Remote: %d\t CANFD: %d\t Extended: %d\t Data length: %zu\n", netid_name, netid, arbid, dlc, is_remote, is_canfd, is_extended, data_length); tx_count += is_tx ? 1 : 0;
bool is_remote = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_RTR) != 0;
bool is_extended = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_IDE) != 0;
bool is_canfd = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_FDF) != 0;
bool is_brs = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_BRS) != 0;
bool is_esi = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_ESI) != 0;
bool tx_aborted = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ABORTED) != 0;
bool tx_lost_arb = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_TX_LOST_ARB) != 0;
bool tx_error = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR) != 0;
dlc = (int32_t)data_length;
printf("\t %s%s\n", is_tx ? "TX" : "RX", is_error ? " [Error]" : "");
printf("\t NetID: %s (0x%x)\tArbID: 0x%llx\tDLC: %u\tLen: %zu\n", netid_name, netid, (unsigned long long)arbid, dlc, data_length);
printf("\t Flags:%s%s%s%s%s%s%s%s\n",
is_remote ? " RTR" : "",
is_extended ? " IDE" : "",
is_canfd ? " FDF" : "",
is_brs ? " BRS" : "",
is_esi ? " ESI" : "",
tx_aborted ? " TX_ABORTED" : "",
tx_lost_arb ? " TX_LOST_ARB" : "",
tx_error ? " TX_ERROR" : "");
printf("\t Data: ["); printf("\t Data: [");
for(size_t x = 0; x < data_length; x++) { for(size_t x = 0; x < data_length; x++) {
printf(" 0x%x", data[x]); printf(" 0x%x", data[x]);
@ -230,14 +293,14 @@ int process_message(icsneoc2_message_t** messages, size_t messages_count) {
printf(" ]\n"); printf(" ]\n");
} }
} }
printf("\tReceived %zu messages total, %zu were TX messages\n", messages_count, tx_count); printf("\tReceived %zu messages total, %zu were TX messages, %zu were CAN errors\n", messages_count, tx_count, can_error_count);
return icsneoc2_error_success; return icsneoc2_error_success;
} }
int transmit_can_messages(icsneoc2_device_t* device) { int transmit_can_messages(icsneoc2_device_t* device) {
uint64_t counter = 0; uint64_t counter = 0;
const size_t msg_count = 100; const size_t msg_count = 10;
printf("\tTransmitting %zd messages...\n", msg_count); printf("\tTransmitting %zd messages...\n", msg_count);
for(size_t i = 0; i < msg_count; i++) { for(size_t i = 0; i < msg_count; i++) {
// Create the message // Create the message
@ -248,8 +311,12 @@ int transmit_can_messages(icsneoc2_device_t* device) {
} }
// Set the message attributes // Set the message attributes
res = icsneoc2_message_netid_set(message, icsneoc2_netid_dwcan_01); res = icsneoc2_message_netid_set(message, icsneoc2_netid_dwcan_01);
uint64_t arb_id = 0x10;
uint64_t flags = 0;
res += icsneoc2_message_can_props_set(message, &arb_id, &flags);
res += icsneoc2_message_data_set(message, (uint8_t*)&counter, sizeof(counter)); res += icsneoc2_message_data_set(message, (uint8_t*)&counter, sizeof(counter));
if(res != icsneoc2_error_success) { if(res != icsneoc2_error_success) {
icsneoc2_message_free(message);
return print_error_code("\tFailed to modify message", res); return print_error_code("\tFailed to modify message", res);
} }
res = icsneoc2_device_message_transmit(device, message); res = icsneoc2_device_message_transmit(device, message);

64
examples/c2/simple/src/main.c
View File

@ -358,10 +358,42 @@ void print_events(const char* device_description) {
int process_messages(icsneoc2_message_t** messages, size_t messages_count) { int process_messages(icsneoc2_message_t** messages, size_t messages_count) {
// Print the type and bus type of each message // Print the type and bus type of each message
size_t tx_count = 0; size_t tx_count = 0;
size_t can_error_count = 0;
for(size_t i = 0; i < messages_count; i++) { for(size_t i = 0; i < messages_count; i++) {
icsneoc2_message_t* message = messages[i]; icsneoc2_message_t* message = messages[i];
// Check for CAN error messages
bool is_can_error = false;
icsneoc2_error_t res = icsneoc2_message_is_can_error(message, &is_can_error);
if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to check if message is a CAN error", res);
}
if(is_can_error) {
uint8_t tec = 0;
uint8_t rec = 0;
icsneoc2_can_error_code_t error_code = 0;
icsneoc2_can_error_code_t data_error_code = 0;
icsneoc2_message_can_error_flags_t error_flags = 0;
icsneoc2_netid_t netid = 0;
res = icsneoc2_message_netid_get(message, &netid);
res += icsneoc2_message_can_error_props_get(message, &tec, &rec, &error_code, &data_error_code, &error_flags);
if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to get CAN error properties", res);
}
char netid_name[128] = {0};
size_t netid_name_length = 128;
icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
printf("\t%zd) CAN Error on %s (0x%x): TEC=%u REC=%u ErrorCode=%u DataErrorCode=%u%s%s%s\n",
i, netid_name, netid, tec, rec, error_code, data_error_code,
(error_flags & ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_BUS_OFF) ? " [BusOff]" : "",
(error_flags & ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_PASSIVE) ? " [ErrorPassive]" : "",
(error_flags & ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_WARN) ? " [ErrorWarn]" : "");
can_error_count++;
continue;
}
bool is_frame = false; bool is_frame = false;
icsneoc2_error_t res = icsneoc2_message_is_frame(message, &is_frame); res = icsneoc2_message_is_frame(message, &is_frame);
if(res != icsneoc2_error_success) { if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to check if message is a frame", res); return print_error_code("\tFailed to check if message is a frame", res);
} }
@ -394,24 +426,42 @@ int process_messages(icsneoc2_message_t** messages, size_t messages_count) {
printf("\t%zd) network type: %s (%u)\n", i, network_type_name, network_type); printf("\t%zd) network type: %s (%u)\n", i, network_type_name, network_type);
if(network_type == icsneoc2_network_type_can) { if(network_type == icsneoc2_network_type_can) {
uint32_t arbid = 0; uint64_t arbid = 0;
int32_t dlc = 0; int32_t dlc = 0;
icsneoc2_netid_t netid = 0; icsneoc2_netid_t netid = 0;
bool is_remote = false; icsneoc2_message_can_flags_t can_flags = 0;
bool is_canfd = false;
bool is_extended = false;
uint8_t data[64] = {0}; uint8_t data[64] = {0};
size_t data_length = 64; size_t data_length = 64;
char netid_name[128] = {0}; char netid_name[128] = {0};
size_t netid_name_length = 128; size_t netid_name_length = 128;
icsneoc2_error_t result = icsneoc2_message_netid_get(message, &netid); icsneoc2_error_t result = icsneoc2_message_netid_get(message, &netid);
result += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length); result += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
result += icsneoc2_message_can_props_get(message, &arbid, &can_flags);
result += icsneoc2_message_data_get(message, data, &data_length); result += icsneoc2_message_data_get(message, data, &data_length);
if(result != icsneoc2_error_success) { if(result != icsneoc2_error_success) {
printf("\tFailed get get CAN parameters (error: %u) for index %zu\n", result, i); printf("\tFailed get get CAN parameters (error: %u) for index %zu\n", result, i);
continue; continue;
} }
printf("\t NetID: %s (0x%x)\tArbID: 0x%x\t DLC: %u\t Remote: %d\t CANFD: %d\t Extended: %d\t Data length: %zu\n", netid_name, netid, arbid, dlc, is_remote, is_canfd, is_extended, data_length); bool is_remote = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_RTR) != 0;
bool is_extended = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_IDE) != 0;
bool is_canfd = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_FDF) != 0;
bool is_brs = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_BRS) != 0;
bool is_esi = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_ESI) != 0;
bool tx_aborted = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ABORTED) != 0;
bool tx_lost_arb = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_TX_LOST_ARB) != 0;
bool tx_error = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR) != 0;
dlc = (int32_t)data_length;
printf("\t NetID: %s (0x%x)\tArbID: 0x%llx\tDLC: %u\tLen: %zu\n", netid_name, netid, (unsigned long long)arbid, dlc, data_length);
printf("\t Flags:%s%s%s%s%s%s%s%s\n",
is_remote ? " RTR" : "",
is_extended ? " IDE" : "",
is_canfd ? " FDF" : "",
is_brs ? " BRS" : "",
is_esi ? " ESI" : "",
tx_aborted ? " TX_ABORTED" : "",
tx_lost_arb ? " TX_LOST_ARB" : "",
tx_error ? " TX_ERROR" : "");
printf("\t Data: ["); printf("\t Data: [");
for(size_t x = 0; x < data_length; x++) { for(size_t x = 0; x < data_length; x++) {
printf(" 0x%x", data[x]); printf(" 0x%x", data[x]);
@ -419,7 +469,7 @@ int process_messages(icsneoc2_message_t** messages, size_t messages_count) {
printf(" ]\n"); printf(" ]\n");
} }
} }
printf("\tReceived %zu messages total, %zu were TX messages\n", messages_count, tx_count); printf("\tReceived %zu messages total, %zu were TX messages, %zu were CAN errors\n", messages_count, tx_count, can_error_count);
return icsneoc2_error_success; return icsneoc2_error_success;
} }

24
include/icsneo/communication/message/canerrormessage.h
View File

@ -4,24 +4,24 @@
#ifdef __cplusplus #ifdef __cplusplus
#include "icsneo/communication/message/message.h" #include "icsneo/communication/message/message.h"
#include "icsneo/icsneoc2types.h"
namespace icsneo { namespace icsneo {
enum class CANErrorCode : uint8_t enum class CANErrorCode : icsneoc2_can_error_code_t
{ {
NoError = 0, NoError = icsneoc2_can_error_code_no_error,
StuffError = 1, StuffError = icsneoc2_can_error_code_stuff_error,
FormError = 2, FormError = icsneoc2_can_error_code_form_error,
AckError = 3, AckError = icsneoc2_can_error_code_ack_error,
Bit1Error = 4, Bit1Error = icsneoc2_can_error_code_bit1_error,
Bit0Error = 5, Bit0Error = icsneoc2_can_error_code_bit0_error,
CRCError = 6, CRCError = icsneoc2_can_error_code_crc_error,
NoChange = 7 NoChange = icsneoc2_can_error_code_no_change
}; };
class CANErrorMessage : public Message { class CANErrorMessage : public RawMessage {
public: public:
CANErrorMessage() : Message(Type::CANError) {} CANErrorMessage() : RawMessage(Type::CANError) {}
Network network;
uint8_t transmitErrorCount; uint8_t transmitErrorCount;
uint8_t receiveErrorCount; uint8_t receiveErrorCount;
bool busOff; bool busOff;

3
include/icsneo/communication/message/canmessage.h
View File

@ -16,6 +16,9 @@ public:
bool isCANFD = false; bool isCANFD = false;
bool baudrateSwitch = false; // CAN FD only bool baudrateSwitch = false; // CAN FD only
bool errorStateIndicator = false; // CAN FD only bool errorStateIndicator = false; // CAN FD only
bool txAborted = false;
bool txLostArb = false;
bool txError = false;
}; };
} }

44
include/icsneo/icsneoc2messages.h
View File

@ -41,6 +41,17 @@ icsneoc2_error_t icsneoc2_message_free(icsneoc2_message_t* message);
*/ */
icsneoc2_error_t icsneoc2_message_is_transmit(icsneoc2_message_t* message, bool* value); icsneoc2_error_t icsneoc2_message_is_transmit(icsneoc2_message_t* message, bool* value);
/**
* Get the frame error status of a message.
*
* @param[in] message The message to check.
* @param[out] value Pointer to a bool to copy the frame error status into.
*
* @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or
* icsneoc2_error_invalid_type otherwise.
*/
icsneoc2_error_t icsneoc2_message_is_error(icsneoc2_message_t* message, bool* value);
/** /**
* Get the Network ID (netid) of a bus message * Get the Network ID (netid) of a bus message
* *
@ -102,6 +113,9 @@ icsneoc2_error_t icsneoc2_message_data_get(icsneoc2_message_t* message, uint8_t*
#define ICSNEOC2_MESSAGE_CAN_FLAGS_FDF 0x04 // FD Format Indicator #define ICSNEOC2_MESSAGE_CAN_FLAGS_FDF 0x04 // FD Format Indicator
#define ICSNEOC2_MESSAGE_CAN_FLAGS_BRS 0x08 // Bit Rate Switch (FD only) #define ICSNEOC2_MESSAGE_CAN_FLAGS_BRS 0x08 // Bit Rate Switch (FD only)
#define ICSNEOC2_MESSAGE_CAN_FLAGS_ESI 0x10 // Error State Indicator (FD only) #define ICSNEOC2_MESSAGE_CAN_FLAGS_ESI 0x10 // Error State Indicator (FD only)
#define ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ABORTED 0x20 // CAN transmit was aborted
#define ICSNEOC2_MESSAGE_CAN_FLAGS_TX_LOST_ARB 0x40 // CAN transmit lost arbitration
#define ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR 0x80 // CAN transmit reported an error
typedef uint64_t icsneoc2_message_can_flags_t; typedef uint64_t icsneoc2_message_can_flags_t;
@ -122,6 +136,7 @@ icsneoc2_error_t icsneoc2_message_can_props_set(icsneoc2_message_t* message, con
* @param[in] message The message to check. * @param[in] message The message to check.
* @param[out] arb_id Pointer to a uint64_t to copy the arbitration ID into. If NULL, it's ignored. * @param[out] arb_id Pointer to a uint64_t to copy the arbitration ID into. If NULL, it's ignored.
* @param[out] flags Pointer to a series of flags. If NULL, it's ignored. See icsneoc2_message_can_flags_t for details. * @param[out] flags Pointer to a series of flags. If NULL, it's ignored. See icsneoc2_message_can_flags_t for details.
* TX status flags are read-only and are only reported for CAN frames received back from the device.
* *
* @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise.
*/ */
@ -316,6 +331,35 @@ icsneoc2_error_t icsneoc2_message_lin_calc_checksum(icsneoc2_message_t* message)
*/ */
icsneoc2_error_t icsneoc2_message_network_type_get(icsneoc2_message_t* message, icsneoc2_network_type_t* network_type); icsneoc2_error_t icsneoc2_message_network_type_get(icsneoc2_message_t* message, icsneoc2_network_type_t* network_type);
/**
* Check if a message is a CAN error message
*
* @param[in] message The message to check.
* @param[out] is_can_error Pointer to a bool to copy the CAN error status of the message into.
*
* @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise.
*/
icsneoc2_error_t icsneoc2_message_is_can_error(icsneoc2_message_t* message, bool* is_can_error);
/**
* Get the CAN error specific properties of a message
*
* @param[in] message The message to check.
* @param[out] tx_err_count Pointer to a uint8_t to copy the transmit error count into. If NULL, it's ignored.
* @param[out] rx_err_count Pointer to a uint8_t to copy the receive error count into. If NULL, it's ignored.
* @param[out] error_code Pointer to a icsneoc2_can_error_code_t to copy the error code into. If NULL, it's ignored.
* @param[out] data_error_code Pointer to a icsneoc2_can_error_code_t to copy the data phase error code into. If NULL, it's ignored.
* @param[out] flags Pointer to a icsneoc2_message_can_error_flags_t to copy the error flags into. If NULL, it's ignored.
* See ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_* for controller-error bits.
*
* @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise.
*/
icsneoc2_error_t icsneoc2_message_can_error_props_get(
icsneoc2_message_t *message, uint8_t *tx_err_count, uint8_t *rx_err_count,
icsneoc2_can_error_code_t *error_code,
icsneoc2_can_error_code_t *data_error_code,
icsneoc2_message_can_error_flags_t *flags);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

22
include/icsneo/icsneoc2types.h
View File

@ -400,6 +400,28 @@ typedef enum _icsneoc2_memory_type_t {
typedef uint8_t icsneoc2_memory_type_t; typedef uint8_t icsneoc2_memory_type_t;
typedef enum _icsneoc2_can_error_code_t {
icsneoc2_can_error_code_no_error = 0, // No error
icsneoc2_can_error_code_stuff_error, // Stuff error
icsneoc2_can_error_code_form_error, // Form error
icsneoc2_can_error_code_ack_error, // Ack error
icsneoc2_can_error_code_bit1_error, // Bit1 error
icsneoc2_can_error_code_bit0_error, // Bit0 error
icsneoc2_can_error_code_crc_error, // CRC error
icsneoc2_can_error_code_no_change, // No change
// Must be last entry. Don't use as a CAN error code.
icsneoc2_can_error_code_maxsize
} _icsneoc2_can_error_code_t;
typedef uint8_t icsneoc2_can_error_code_t;
#define ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_BUS_OFF 0x01 // Bus off state
#define ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_PASSIVE 0x02 // Error passive state
#define ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_WARN 0x04 // Error warning state
typedef uint64_t icsneoc2_message_can_error_flags_t;
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

113
test/unit/icsneoc2.cpp
View File

@ -2,8 +2,11 @@
#include <icsneo/icsneoc2.h> #include <icsneo/icsneoc2.h>
#include <icsneo/icsneoc2settings.h> #include <icsneo/icsneoc2settings.h>
#include <icsneo/icsneoc2messages.h> #include <icsneo/icsneoc2messages.h>
#include "../../api/icsneoc2/icsneoc2_internal.h"
#include <icsneo/device/devicetype.h> #include <icsneo/device/devicetype.h>
#include <icsneo/communication/message/linmessage.h> #include <icsneo/communication/message/linmessage.h>
#include <icsneo/communication/message/canmessage.h>
#include <icsneo/communication/message/canerrormessage.h>
#include <vector> #include <vector>
@ -130,7 +133,10 @@ TEST(icsneoc2, test_icsneoc2_error_invalid_parameters_and_invalid_device)
ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_network_type_get(NULL, NULL)); ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_network_type_get(NULL, NULL));
ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_is_transmit(NULL, NULL)); ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_is_transmit(NULL, NULL));
ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_is_error(NULL, NULL));
ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_is_valid(NULL, NULL)); ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_is_valid(NULL, NULL));
ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_is_can_error(NULL, NULL));
ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_can_error_props_get(NULL, NULL, NULL, NULL, NULL, NULL));
// LIN message NULL parameter checks // LIN message NULL parameter checks
ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_is_lin(NULL, NULL)); ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_is_lin(NULL, NULL));
@ -626,6 +632,66 @@ TEST(icsneoc2, test_icsneoc2_open_options_default)
ASSERT_EQ(icsneoc2_open_options_default, expected); ASSERT_EQ(icsneoc2_open_options_default, expected);
} }
TEST(icsneoc2, test_icsneoc2_message_is_error)
{
icsneoc2_message_t message;
message.message = std::make_shared<CANMessage>();
bool value = false;
ASSERT_EQ(icsneoc2_error_success, icsneoc2_message_is_error(&message, &value));
ASSERT_FALSE(value);
auto frame = std::dynamic_pointer_cast<Frame>(message.message);
ASSERT_NE(frame, nullptr);
frame->error = true;
ASSERT_EQ(icsneoc2_error_success, icsneoc2_message_is_error(&message, &value));
ASSERT_TRUE(value);
icsneoc2_message_t raw_message;
raw_message.message = std::make_shared<CANErrorMessage>();
ASSERT_EQ(icsneoc2_error_invalid_type, icsneoc2_message_is_error(&raw_message, &value));
}
TEST(icsneoc2, test_icsneoc2_message_can_props_get_can_tx_flags)
{
icsneoc2_message_t message;
auto can_message = std::make_shared<CANMessage>();
message.message = can_message;
uint64_t arb_id = 0;
icsneoc2_message_can_flags_t flags = 0;
ASSERT_EQ(icsneoc2_error_success, icsneoc2_message_can_props_get(&message, &arb_id, &flags));
ASSERT_EQ(arb_id, 0u);
ASSERT_EQ(flags, 0u);
can_message->txAborted = true;
can_message->txLostArb = true;
can_message->txError = true;
ASSERT_EQ(icsneoc2_error_success, icsneoc2_message_can_props_get(&message, &arb_id, &flags));
ASSERT_EQ(flags,
ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ABORTED |
ICSNEOC2_MESSAGE_CAN_FLAGS_TX_LOST_ARB |
ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR);
}
TEST(icsneoc2, test_icsneoc2_message_can_error_props_get_invalid_type_for_can_message)
{
icsneoc2_message_t message;
message.message = std::make_shared<CANMessage>();
uint8_t tx_err_count = 0;
uint8_t rx_err_count = 0;
icsneoc2_can_error_code_t error_code = icsneoc2_can_error_code_no_error;
icsneoc2_can_error_code_t data_error_code = icsneoc2_can_error_code_no_error;
icsneoc2_message_can_error_flags_t flags = 0;
ASSERT_EQ(icsneoc2_error_invalid_type,
icsneoc2_message_can_error_props_get(&message, &tx_err_count, &rx_err_count, &error_code, &data_error_code, &flags));
}
TEST(icsneoc2, test_icsneoc2_disk_format_enums) TEST(icsneoc2, test_icsneoc2_disk_format_enums)
{ {
// Disk layout enum values // Disk layout enum values
@ -671,6 +737,53 @@ TEST(icsneoc2, test_icsneoc2_memory_type_enums)
ASSERT_EQ(1, icsneoc2_memory_type_sd); ASSERT_EQ(1, icsneoc2_memory_type_sd);
} }
TEST(icsneoc2, test_icsneoc2_can_error_code_t)
{
// CAN error code enum values
ASSERT_EQ(icsneoc2_can_error_code_no_error, 0);
ASSERT_EQ(icsneoc2_can_error_code_stuff_error, 1);
ASSERT_EQ(icsneoc2_can_error_code_form_error, 2);
ASSERT_EQ(icsneoc2_can_error_code_ack_error, 3);
ASSERT_EQ(icsneoc2_can_error_code_bit1_error, 4);
ASSERT_EQ(icsneoc2_can_error_code_bit0_error, 5);
ASSERT_EQ(icsneoc2_can_error_code_crc_error, 6);
ASSERT_EQ(icsneoc2_can_error_code_no_change, 7);
ASSERT_EQ(icsneoc2_can_error_code_maxsize, 8);
using _T = icsneo::CANErrorCode;
ASSERT_EQ(static_cast<icsneoc2_can_error_code_t>(_T::NoError), icsneoc2_can_error_code_no_error);
ASSERT_EQ(static_cast<icsneoc2_can_error_code_t>(_T::StuffError), icsneoc2_can_error_code_stuff_error);
ASSERT_EQ(static_cast<icsneoc2_can_error_code_t>(_T::FormError), icsneoc2_can_error_code_form_error);
ASSERT_EQ(static_cast<icsneoc2_can_error_code_t>(_T::AckError), icsneoc2_can_error_code_ack_error);
ASSERT_EQ(static_cast<icsneoc2_can_error_code_t>(_T::Bit1Error), icsneoc2_can_error_code_bit1_error);
ASSERT_EQ(static_cast<icsneoc2_can_error_code_t>(_T::Bit0Error), icsneoc2_can_error_code_bit0_error);
ASSERT_EQ(static_cast<icsneoc2_can_error_code_t>(_T::CRCError), icsneoc2_can_error_code_crc_error);
ASSERT_EQ(static_cast<icsneoc2_can_error_code_t>(_T::NoChange), icsneoc2_can_error_code_no_change);
ASSERT_EQ(sizeof(icsneoc2_can_error_code_t), sizeof(uint8_t));
// CAN error flag bitmask values
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_BUS_OFF, 0x01);
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_PASSIVE, 0x02);
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_WARN, 0x04);
ASSERT_EQ(sizeof(icsneoc2_message_can_error_flags_t), sizeof(uint64_t));
}
TEST(icsneoc2, test_icsneoc2_message_can_flags_t)
{
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_FLAGS_RTR, 0x01);
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_FLAGS_IDE, 0x02);
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_FLAGS_FDF, 0x04);
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_FLAGS_BRS, 0x08);
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_FLAGS_ESI, 0x10);
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ABORTED, 0x20);
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_FLAGS_TX_LOST_ARB, 0x40);
ASSERT_EQ(ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR, 0x80);
ASSERT_EQ(sizeof(icsneoc2_message_can_flags_t), sizeof(uint64_t));
}
TEST(icsneoc2, test_icsneoc2_script_error_codes) TEST(icsneoc2, test_icsneoc2_script_error_codes)
{ {
// Verify script error codes exist and have distinct string representations // Verify script error codes exist and have distinct string representations