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CANManager.h
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CANManager.h
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#pragma once
#include <stdint.h>
// #include <string.h>
#include <cassert>
#include "CAN_common.h"
#include "CANObject.h"
/******************************************************************************************
*
******************************************************************************************/
class CANManagerInterface
{
public:
virtual ~CANManagerInterface() = default;
/// @brief Registers specified CANObject
/// @param can_object CANObject for registration
/// @return 'true' if registration was successful, 'false' if not
virtual bool RegisterObject(CANObjectInterface &can_object) = 0;
/// @brief Returns the number of CANObjects, which are registered in CANManager
/// @return The number of CANObjects, which are registered in CANManager
virtual uint8_t GetObjectsCount() = 0;
/// @brief Checks if CANObject is registered in CANManager
/// @param id ID of the CANObject to check
/// @return Return 'true' if the CANObject is registered, 'false' if it is not
virtual bool HasCanObject(can_object_id_t id) = 0;
/// @brief Searches for the CANObject among the registered ones
/// @param id ID of the CANObject to search
/// @return 'pointer to CANObjectInterface' if this object is registered,
/// 'nullptr' if CANObject was not found.
virtual CANObjectInterface *GetCanObject(can_object_id_t id) = 0;
/// @brief Returns The number of CAN frames stored in the buffer.
/// @return The number of CAN frames stored in the buffer.
virtual uint8_t GetNumOfFramesInBuffer() = 0;
/// @brief Registers low level function, that sends data via CAN bus
/// @param can_send_func Pointer to the function
virtual void RegisterSendFunction(can_send_function_t can_send_func) = 0;
/// @brief Performs CANObjects processing
/// @param time Current time
virtual void Process(uint32_t time) = 0;
/// @brief Processes incoming CAN frame (without any queues?)
/// @param id CANObject ID from the CAN frame
/// @param data Pointer to the data array
/// @param length Data length
/// @return true if CANObject with ID is registered, false if not
virtual bool IncomingCANFrame(can_object_id_t id, uint8_t *data, uint8_t length) = 0;
/// @brief Sends custom CAN frame
/// @param can_object Sender CANObject. It is acceptable to use unregistered CANObject for generation of frames.
/// @param function_id CAN function ID
/// @param data Frame data to send in CAN frame
/// @param data_length Frame data length
virtual void SendCustomFrame(CANObjectInterface &can_object, can_function_id_t function_id, uint8_t *data = nullptr, uint8_t data_length = 0) = 0;
};
/******************************************************************************************
******************************************************************************************/
/// @brief CANManager manages all the CANObject of the board/system and performs base frame processing
/// @tparam _max_objects — The maximum number of CANObjects which can be handle by CANManager
/// @tparam _can_frame_buffer_size — The size of buffer, measured in number of CAN frame structures
/// @tparam tick_time — ms, the minimal period between CANManager::Process() informative calls
template <uint8_t _max_objects = 16, uint8_t _can_frame_buffer_size = 16, uint8_t tick_time = 10>
class CANManager : public CANManagerInterface
{
static_assert(_max_objects > 0); // 0 objects is not allowed
public:
/// @brief Default constructor is disabled
CANManager() = delete;
/// @brief Creates CANManager and specifies external function, which sends CAN frames
/// @param can_send_func Pointer to an external CAN frames sending handler
CANManager(can_send_function_t can_send_func)
: _send_func(can_send_func){};
/// @brief Registers specified CANObject
/// @param can_object CANObject for registration
/// @return 'true' if registration was successful, 'false' if not
virtual bool RegisterObject(CANObjectInterface &can_object) override
{
if (_max_objects <= _objects_idx)
return false;
_objects[_objects_idx++] = &can_object;
return true;
}
/// @brief Returns the number of CANObjects, which are registered in CANManager
/// @return The number of CANObjects, which are registered in CANManager
virtual uint8_t GetObjectsCount() override
{
return _objects_idx;
}
/// @brief Checks if CANObject is registered in CANManager
/// @param id ID of the CANObject to check
/// @return Return 'true' if the CANObject is registered, 'false' if it is not
virtual bool HasCanObject(can_object_id_t id) override
{
return GetCanObject(id) != nullptr;
}
/// @brief Searches for the CANObject among the registered ones
/// @param id ID of the CANObject to search
/// @return 'pointer to CANObjectInterface' if this object is registered,
/// 'nullptr' if CANObject was not found.
virtual CANObjectInterface *GetCanObject(can_object_id_t id) override
{
for (uint8_t i = 0; i < _objects_idx; i++)
{
if (_objects[i]->GetId() == id)
return _objects[i];
}
return nullptr;
}
/// @brief Returns The number of CAN frames stored in the buffer.
/// @return The number of CAN frames stored in the buffer.
virtual uint8_t GetNumOfFramesInBuffer() override
{
return _frame_buffer_index;
}
/// @brief Registers low level function, that sends data via CAN bus
/// @param can_send_func Pointer to the function
virtual void RegisterSendFunction(can_send_function_t can_send_func) override
{
if (can_send_func == nullptr)
return;
_send_func = can_send_func;
}
/// @brief Performs CANObjects processing
/// @param time Current time
virtual void Process(uint32_t time) override
{
if (time - _last_tick < tick_time)
return;
_last_tick = time;
// Process all incoming CAN frames in the buffer
if (_frame_buffer_index > 0)
{
CANObjectInterface *can_object = nullptr;
for (uint8_t i = 0; i < _frame_buffer_index; i++)
{
// transfer broadcast frames to all registered CAN-Objects
if (_can_frame_buffer[i].object_id == CAN_SYSTEM_ID_BROADCAST)
{
if (!_IsBroadcastFunctionAllowed(_can_frame_buffer[i].function_id))
{
_can_frame_buffer[i].initialized = false;
continue;
}
can_frame_t broadcast_can_frame;
for (uint8_t obj_idx = 0; obj_idx < _objects_idx; ++obj_idx)
{
clear_can_frame_struct(broadcast_can_frame);
copy_can_frame_struct(broadcast_can_frame, _can_frame_buffer[i]);
if (CAN_RESULT_IGNORE == _objects[obj_idx]->InputCanFrame(broadcast_can_frame, _tx_error))
continue;
_ValidateAndFillErrorCanFrame(broadcast_can_frame, _tx_error);
broadcast_can_frame.object_id = _objects[obj_idx]->GetId();
_SendCanData(broadcast_can_frame);
}
}
// process all frames for specific CAN-Objects
else
{
can_object = GetCanObject(_can_frame_buffer[i].object_id);
if (CAN_RESULT_IGNORE == can_object->InputCanFrame(_can_frame_buffer[i], _tx_error))
{
_can_frame_buffer[i].initialized = false;
continue;
}
_ValidateAndFillErrorCanFrame(_can_frame_buffer[i], _tx_error);
_SendCanData(_can_frame_buffer[i]);
}
_can_frame_buffer[i].initialized = false;
}
// buffer is clear, we can write frame in the first item of buffer
_frame_buffer_index = 0;
}
clear_can_error_struct(_tx_error);
clear_can_frame_struct(_tx_can_frame);
// Process automatic functions of CANObjects
for (uint8_t i = 0; i < _objects_idx; ++i)
{
if (CAN_RESULT_IGNORE == _objects[i]->Process(time, _tx_can_frame, _tx_error))
continue;
_ValidateAndFillErrorCanFrame(_tx_can_frame, _tx_error);
// restoring ID (if it was overwritten by the handler)
_tx_can_frame.object_id = _objects[i]->GetId();
_SendCanData(_tx_can_frame);
}
}
/// @brief Stores incoming CAN framein the buffer.
/// Frame processing will start when the Process() method is called the next time.
/// @param id CANObject ID from the CAN frame
/// @param data Pointer to the data array
/// @param length Data length
/// @return true if data length exceeds 0 and a CANObject with the ID is registered, false if not
virtual bool IncomingCANFrame(can_object_id_t id, uint8_t *data, uint8_t length) override
{
if (data == nullptr || length == 0)
return false;
if (!HasCanObject(id) && id != CAN_SYSTEM_ID_BROADCAST)
return false;
if (id == CAN_SYSTEM_ID_BROADCAST && !_IsBroadcastFunctionAllowed((can_function_id_t)data[0]))
return false;
_can_frame_buffer[_frame_buffer_index].object_id = id;
memcpy(_can_frame_buffer[_frame_buffer_index].raw_data, data, length);
_can_frame_buffer[_frame_buffer_index].raw_data_length = length;
_can_frame_buffer[_frame_buffer_index].initialized = true;
_frame_buffer_index++;
if (_frame_buffer_index >= _can_frame_buffer_size)
_frame_buffer_index = 0;
return true;
}
/// @brief Sends custom CAN frame
/// @param can_object Sender CANObject. It is acceptable to use unregistered CANObject for generation of frames.
/// @param function_id CAN function ID
/// @param data Frame data to send in CAN frame
/// @param data_length Frame data length
virtual void SendCustomFrame(CANObjectInterface &can_object, can_function_id_t function_id, uint8_t *data = nullptr, uint8_t data_length = 0) override
{
clear_can_error_struct(_tx_error);
clear_can_frame_struct(_tx_can_frame);
can_object.FillRawCanFrame(_tx_can_frame, _tx_error, function_id, data, data_length);
_ValidateAndFillErrorCanFrame(_tx_can_frame, _tx_error);
// restoring ID (if it was overwritten by the handler)
_tx_can_frame.object_id = can_object.GetId();
_SendCanData(_tx_can_frame);
};
private:
// data structures for outgoing CAN frames & errors
can_frame_t _tx_can_frame = {};
can_error_t _tx_error = {};
// buffer for incoming can frames
// new frames will overwrite old ones regardless of can manager's processing speed
can_frame_t _can_frame_buffer[_can_frame_buffer_size] = {};
uint8_t _frame_buffer_index = 0;
static_assert(_can_frame_buffer_size <= UINT8_MAX); // static _frame_buffer_index overflow check
// registered CANObjects of the CANManager
CANObjectInterface *_objects[_max_objects] = {nullptr};
uint8_t _objects_idx = 0;
static_assert(_max_objects <= UINT8_MAX); // static _objects_idx overflow check
can_send_function_t _send_func = nullptr;
uint32_t _last_tick = 0;
/// @brief Sends data to the CAN bus with check if sending callback function is setted
/// @param can_frame CAN frame data to send
void _SendCanData(can_frame_t &can_frame)
{
if (_send_func == nullptr || !can_frame.initialized)
return;
_send_func(can_frame.object_id, can_frame.raw_data, can_frame.raw_data_length);
clear_can_error_struct(_tx_error);
clear_can_frame_struct(_tx_can_frame);
}
/// @brief Fills CAN frame with correct error data
/// @param can_frame [OUT] CAN frame to fill
/// @param error [IN] Error structure with error section and error code
void _FillErrorCanFrame(can_frame_t &can_frame, can_error_t error)
{
if (error.error_section == ERROR_SECTION_NONE)
{
can_frame.initialized = false;
return;
}
can_frame.initialized = true;
if (error.function_id != CAN_FUNC_NONE)
{
can_frame.function_id = error.function_id;
}
else
{
can_frame.function_id = CAN_FUNC_EVENT_ERROR;
}
can_frame.data[0] = error.error_section;
can_frame.data[1] = error.error_code;
can_frame.raw_data_length = sizeof(can_frame.function_id) + 2;
}
/// @brief Checks that either the CAN frame or the error structure is specified. Fills CAN frame with error data if needed.
/// @param can_frame [IN, OUT] CAN frame to check and to fill
/// @param error [IN] Error structure.
void _ValidateAndFillErrorCanFrame(can_frame_t &can_frame, can_error_t error)
{
if (error.error_section != ERROR_SECTION_NONE)
{
_FillErrorCanFrame(can_frame, error);
return;
}
else if (!can_frame.initialized)
{
// both the CAN frame and the error structure are blank
error.error_section = ERROR_SECTION_CAN_MANAGER;
error.error_code = ERROR_CODE_MANAGER_CAN_FRAME_AND_ERROR_STRUCT_ARE_BOTH_BLANK;
_FillErrorCanFrame(can_frame, error);
return;
}
}
/// @brief Checks if specified CAN function is allowed in broadcast mode
/// @param func_id CAN function ID for check
/// @return 'true' if CAN function is allowed, 'false' if it is not.
bool _IsBroadcastFunctionAllowed(can_function_id_t func_id)
{
// broadcast of "request", "system request" and "lock" functions only are allowed
return func_id == CAN_FUNC_REQUEST_IN ||
func_id == CAN_FUNC_SYSTEM_REQUEST_IN ||
func_id == CAN_FUNC_LOCK_IN;
}
};