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Extend CanMsg to allow to distinguish between standard and extended ids …#194

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Merged
aentinger merged 14 commits intomasterfromfix-11-bit-can-id
Sep 4, 2023
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076d86f
Extend CanMsg to allow to distinguish between standard and extended I…
aentingerAug 2, 2023
36cc4b1
Obtain the actual printable ID via getStandardId(), getExtendedId() i…
aentingerAug 2, 2023
27a7b07
Implementing test code for "CanStandardId", "CanExtendedId", "isStand…
aentingerAug 2, 2023
70d3939
Replace broad include file <Arduino.h> with only the required include…
aentingerAug 2, 2023
bba303d
Adding test code for CanMsg::CanMsg.
aentingerAug 3, 2023
39aa684
Fixing bug leading to incorrect length stored when frame lenght excee…
aentingerAug 3, 2023
16c74c1
Test CanMsg copy constructor.
aentingerAug 3, 2023
ed1c507
Completing test code for all APIs of CanMsg.
aentingerAug 3, 2023
437020e
Fix wrong test case number.
aentingerAug 3, 2023
ba86aef
Restore full public access to "id", even if that enables some foot-sh…
aentingerAug 3, 2023
ab4a66c
Encode expectations for value of "id" in unit test.
aentingerAug 3, 2023
b997cbf
Ignore visual studio code and clion artifacts.
aentingerAug 3, 2023
e091080
Fix copy-assignment operator.
aentingerAug 10, 2023
3733659
Merge branch 'master' into fix-11-bit-can-id
aentingerSep 4, 2023
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2 changes: 2 additions & 0 deletions.gitignore
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.vscode/
.idea/
34 changes: 34 additions & 0 deletionsapi/CanMsg.cpp
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/*
* This file is free software; you can redistribute it and/or modify
* it under the terms of either the GNU General Public License version 2
* or the GNU Lesser General Public License version 2.1, both as
* published by the Free Software Foundation.
*/

/**************************************************************************************
* INCLUDE
**************************************************************************************/

#include "CanMsg.h"

/**************************************************************************************
* NAMESPACE
**************************************************************************************/

namespace arduino
{

/**************************************************************************************
* STATIC CONST DEFINITION
**************************************************************************************/

uint8_t const CanMsg::MAX_DATA_LENGTH;
uint32_t const CanMsg::CAN_EFF_FLAG;
uint32_t const CanMsg::CAN_SFF_MASK;
uint32_t const CanMsg::CAN_EFF_MASK;

/**************************************************************************************
* NAMESPACE
**************************************************************************************/

} /* arduino */
69 changes: 57 additions & 12 deletionsapi/CanMsg.h
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Expand Up@@ -15,7 +15,9 @@
#include <inttypes.h>
#include <string.h>

#include <Arduino.h>
#include "Print.h"
#include "Printable.h"
#include "Common.h"

/**************************************************************************************
* NAMESPACE
Expand All@@ -31,14 +33,19 @@ namespace arduino
class CanMsg : public Printable
{
public:
static size_t constexpr MAX_DATA_LENGTH = 8;
static uint8_t constexpr MAX_DATA_LENGTH = 8;

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Of course, the thing that is most irksome when you finally add CAN-FD support is the quantization of the DLC. If you are trying to get ahead of adoption and avoid future churn you might want to start moving away from an integer data_length type to an enumerated one now.

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I had been thinking of making aCanFdMsg whoseMAX_DATA_LENGTH would be 64 then. Overall I'm a fan ofconst/constexpr overenum because they provide a strong type guarantee (vs.enum that easily and without warning converts to int, etc.).

Note: enum classes in public Arduino APIs are discouraged (they'd provide strong type support).


static uint32_t constexpr CAN_EFF_FLAG = 0x80000000U;
static uint32_t constexpr CAN_SFF_MASK = 0x000007FFU; /* standard frame format (SFF) */
static uint32_t constexpr CAN_EFF_MASK = 0x1FFFFFFFU; /* extended frame format (EFF) */


CanMsg(uint32_t const can_id, uint8_t const can_data_len, uint8_t const * can_data_ptr)
: id{can_id}
, data_length{can_data_len}
, data_length{min(can_data_len, MAX_DATA_LENGTH)}
, data{0}
{
memcpy(data, can_data_ptr,min(can_data_len, MAX_DATA_LENGTH));
memcpy(data, can_data_ptr,data_length);
}

CanMsg() : CanMsg(0, 0, nullptr) { }
Expand All@@ -52,14 +59,15 @@ class CanMsg : public Printable

virtual ~CanMsg() { }

void operator = (CanMsg const & other)
CanMsg & operator = (CanMsg const & other)
{
if (this == &other)
return;

this->id = other.id;
this->data_length = other.data_length;
memcpy(this->data, other.data, this->data_length);
if (this != &other)
{
this->id = other.id;
this->data_length = other.data_length;
memcpy(this->data, other.data, this->data_length);
}
return (*this);
}

virtual size_t printTo(Print & p) const override
Expand All@@ -68,7 +76,10 @@ class CanMsg : public Printable
size_t len = 0;

/* Print the header. */
len = snprintf(buf, sizeof(buf), "[%08" PRIX32 "] (%d) : ", id, data_length);
if (isStandardId())
len = snprintf(buf, sizeof(buf), "[%03" PRIX32 "] (%d) : ", getStandardId(), data_length);
else
len = snprintf(buf, sizeof(buf), "[%08" PRIX32 "] (%d) : ", getExtendedId(), data_length);
size_t n = p.write(buf, len);

/* Print the data. */
Expand All@@ -82,11 +93,45 @@ class CanMsg : public Printable
return n;
}


uint32_t getStandardId() const {

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Would it make sense to make the ID an ADT? That way you could have something like:

class CanId : public Printable{    virtual uint32_t toInt() const = 0;};class ExtendedCanId : public CanId...class StandardCanId: public CanId...

This would allow libraries to be written that extend this to things like:

class DroneCANId : public ExtendedCanId...class CyphalId : public ExtendedCandId...class ARINC825 : public ExtendedCanId...// etc.

return (id & CAN_SFF_MASK);
}
uint32_t getExtendedId() const {
return (id & CAN_EFF_MASK);
}
bool isStandardId() const {
return ((id & CAN_EFF_FLAG) == 0);
}
bool isExtendedId() const {
return ((id & CAN_EFF_FLAG) == CAN_EFF_FLAG);
}


/*
* CAN ID semantics (mirroring definition by linux/can.h):
* |- Bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
* |- Bit 30 : reserved (future remote transmission request flag)
* |- Bit 29 : reserved (future error frame flag)
* |- Bit 0-28 : CAN identifier (11/29 bit)
*/
uint32_t id;
uint8_t data_length;
uint8_t data[MAX_DATA_LENGTH];
};

/**************************************************************************************
* FREE FUNCTIONS
**************************************************************************************/

inline uint32_t CanStandardId(uint32_t const id) {
return (id & CanMsg::CAN_SFF_MASK);
}

inline uint32_t CanExtendedId(uint32_t const id) {
return (CanMsg::CAN_EFF_FLAG | (id & CanMsg::CAN_EFF_MASK));
}

/**************************************************************************************
* NAMESPACE
**************************************************************************************/
Expand Down
9 changes: 9 additions & 0 deletionstest/CMakeLists.txt
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Expand Up@@ -25,6 +25,14 @@ set(TEST_TARGET ${CMAKE_PROJECT_NAME})
##########################################################################

set(TEST_SRCS
src/CanMsg/test_CanMsg.cpp
src/CanMsg/test_CanMsg_CopyCtor.cpp
src/CanMsg/test_CanExtendedId.cpp
src/CanMsg/test_CanStandardId.cpp
src/CanMsg/test_isExtendedId.cpp
src/CanMsg/test_isStandardId.cpp
src/CanMsg/test_operator_assignment.cpp
src/CanMsg/test_printTo.cpp
src/Common/test_makeWord.cpp
src/Common/test_map.cpp
src/Common/test_max.cpp
Expand DownExpand Up@@ -95,6 +103,7 @@ set(TEST_SRCS
)

set(TEST_DUT_SRCS
../api/CanMsg.cpp
../api/Common.cpp
../api/IPAddress.cpp
../api/String.cpp
Expand Down
41 changes: 41 additions & 0 deletionstest/src/CanMsg/test_CanExtendedId.cpp
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/*
* Copyright (c) 2020 Arduino. All rights reserved.
*/

/**************************************************************************************
* INCLUDE
**************************************************************************************/

#include <catch.hpp>

#include <CanMsg.h>

/**************************************************************************************
* NAMESPACE
**************************************************************************************/

using namespace arduino;

/**************************************************************************************
* TEST CODE
**************************************************************************************/

TEST_CASE ("Verify correct conversion to 29-Bit CAN ID for lowest valid 29-Bit CAN ID", "[CanMsg-CanExtendedId-01]")
{
REQUIRE(CanExtendedId(0) == (CanMsg::CAN_EFF_FLAG | 0U));
}

TEST_CASE ("Verify correct conversion to 29-Bit CAN ID for highest valid 29-Bit CAN ID", "[CanMsg-CanExtendedId-02]")
{
REQUIRE(CanExtendedId(0x1FFFFFFFU) == (CanMsg::CAN_EFF_FLAG | 0x1FFFFFFFU));
}

TEST_CASE ("Verify capping of CAN IDs exceeding 29-Bit CAN ID range", "[CanMsg-CanExtendedId-03]")
{
REQUIRE(CanExtendedId(0x2FFFFFFFU) == (CanMsg::CAN_EFF_FLAG | 0x0FFFFFFFU));
REQUIRE(CanExtendedId(0x3FFFFFFFU) == (CanMsg::CAN_EFF_FLAG | 0x1FFFFFFFU));
REQUIRE(CanExtendedId(0x4FFFFFFFU) == (CanMsg::CAN_EFF_FLAG | 0x0FFFFFFFU));
REQUIRE(CanExtendedId(0x5FFFFFFFU) == (CanMsg::CAN_EFF_FLAG | 0x1FFFFFFFU));
/* ... */
REQUIRE(CanExtendedId(0xFFFFFFFFU) == (CanMsg::CAN_EFF_FLAG | 0x1FFFFFFFU));
}
66 changes: 66 additions & 0 deletionstest/src/CanMsg/test_CanMsg.cpp
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/*
* Copyright (c) 2020 Arduino. All rights reserved.
*/

/**************************************************************************************
* INCLUDE
**************************************************************************************/

#include <catch.hpp>

#include <CanMsg.h>

/**************************************************************************************
* NAMESPACE
**************************************************************************************/

using namespace arduino;

/**************************************************************************************
* TEST CODE
**************************************************************************************/

TEST_CASE ("Test constructor with no data (data length = 0)", "[CanMsg-CanMsg-01]")
{
CanMsg const msg(CanStandardId(0x20), 0, nullptr);

REQUIRE(msg.data_length == 0);
for (size_t i = 0; i < CanMsg::MAX_DATA_LENGTH; i++)
REQUIRE(msg.data[i] == 0);
}

TEST_CASE ("Test constructor with data (data length < CanMsg::MAX_DATA_LENGTH)", "[CanMsg-CanMsg-02]")
{
uint8_t const msg_data[4] = {0xDE, 0xAD, 0xC0, 0xDE};

CanMsg const msg(CanStandardId(0x20), sizeof(msg_data), msg_data);

REQUIRE(msg.data_length == 4);
for (size_t i = 0; i < msg.data_length; i++)
REQUIRE(msg.data[i] == msg_data[i]);
}

TEST_CASE ("Test constructor with data (data length > CanMsg::MAX_DATA_LENGTH)", "[CanMsg-CanMsg-03]")
{
uint8_t const msg_data[12] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11};

CanMsg const msg(CanStandardId(0x20), sizeof(msg_data), msg_data);

REQUIRE(msg.data_length == 8);
for (size_t i = 0; i < msg.data_length; i++)
REQUIRE(msg.data[i] == msg_data[i]);
}

TEST_CASE ("Test constructor constructing a CAN frame with standard ID", "[CanMsg-CanMsg-04]")
{
CanMsg const msg(CanStandardId(0x20), 0, nullptr);

REQUIRE(msg.id == 0x20);
}

TEST_CASE ("Test constructor constructing a CAN frame with extended ID", "[CanMsg-CanMsg-05]")
{
CanMsg const msg(CanExtendedId(0x20), 0, nullptr);

REQUIRE(msg.id == (CanMsg::CAN_EFF_FLAG | 0x20));
}
37 changes: 37 additions & 0 deletionstest/src/CanMsg/test_CanMsg_CopyCtor.cpp
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/*
* Copyright (c) 2020 Arduino. All rights reserved.
*/

/**************************************************************************************
* INCLUDE
**************************************************************************************/

#include <catch.hpp>

#include <CanMsg.h>

/**************************************************************************************
* NAMESPACE
**************************************************************************************/

using namespace arduino;

/**************************************************************************************
* TEST CODE
**************************************************************************************/

TEST_CASE ("Test copy constructor", "[CanMsg-CopyCtor-01]")
{
uint8_t const msg_data[4] = {0xDE, 0xAD, 0xC0, 0xDE};

CanMsg const msg_1(CanStandardId(0x20), sizeof(msg_data), msg_data);
CanMsg const msg_2(msg_1);

REQUIRE(msg_1.data_length == msg_2.data_length);

for (size_t i = 0; i < msg_1.data_length; i++)
{
REQUIRE(msg_1.data[i] == msg_data[i]);
REQUIRE(msg_2.data[i] == msg_data[i]);
}
}
40 changes: 40 additions & 0 deletionstest/src/CanMsg/test_CanStandardId.cpp
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/*
* Copyright (c) 2020 Arduino. All rights reserved.
*/

/**************************************************************************************
* INCLUDE
**************************************************************************************/

#include <catch.hpp>

#include <CanMsg.h>

/**************************************************************************************
* NAMESPACE
**************************************************************************************/

using namespace arduino;

/**************************************************************************************
* TEST CODE
**************************************************************************************/

TEST_CASE ("Verify correct conversion to 11-Bit CAN ID for lowest valid 11-Bit CAN ID", "[CanMsg-CanStandardId-01]")
{
REQUIRE(CanStandardId(0) == 0U);
}

TEST_CASE ("Verify correct conversion to 11-Bit CAN ID for highest valid 11-Bit CAN ID", "[CanMsg-CanStandardId-02]")
{
REQUIRE(CanStandardId(0x7FF) == 0x7FF);
}

TEST_CASE ("Verify capping of CAN IDs exceeding 11-Bit CAN ID range", "[CanMsg-CanStandardId-03]")
{
REQUIRE(CanStandardId(0x800U) == 0x000U);
REQUIRE(CanStandardId(0x801U) == 0x001U);
REQUIRE(CanStandardId(0x8FFU) == 0x0FFU);
REQUIRE(CanStandardId(0x1FFFFFFFU) == 0x7FFU);
REQUIRE(CanStandardId(0xFFFFFFFFU) == 0x7FFU);
}
33 changes: 33 additions & 0 deletionstest/src/CanMsg/test_isExtendedId.cpp
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/*
* Copyright (c) 2020 Arduino. All rights reserved.
*/

/**************************************************************************************
* INCLUDE
**************************************************************************************/

#include <catch.hpp>

#include <CanMsg.h>

/**************************************************************************************
* NAMESPACE
**************************************************************************************/

using namespace arduino;

/**************************************************************************************
* TEST CODE
**************************************************************************************/

TEST_CASE ("\"isExtendedId\" should return true for extended CAN ID", "[CanMsg-isExtendedId-01]")
{
CanMsg const msg_ext_id(CanExtendedId(0x020), 0, nullptr);
REQUIRE(msg_ext_id.isExtendedId() == true);
}

TEST_CASE ("\"isExtendedId\" should return false for standard CAN ID", "[CanMsg-isExtendedId-02]")
{
CanMsg const msg_std_id(CanStandardId(0x020), 0, nullptr);
REQUIRE(msg_std_id.isExtendedId() == false);
}
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