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Commitaa092d2

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committed
Merge branch 1.7.0 w/ CAN FD support from#16
1 parentd882020 commitaa092d2

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12 files changed

+1013
-221
lines changed

12 files changed

+1013
-221
lines changed

‎Cargo.toml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@ vcan_tests = ["netlink"]
2222
utils = ["clap","anyhow"]
2323

2424
[dependencies]
25-
embedded-hal ="1.0.0-alpha.8"
25+
embedded-hal ="=1.0.0-alpha.8"
2626
nb ="1"
2727
byte_conv ="0.1.1"
2828
hex ="0.4"

‎examples/blocking.rs

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -8,8 +8,9 @@
88
use anyhow::Context;
99
use clap::Parser;
1010

11-
use socketcan::{CanSocket,CanFrame};
12-
use embedded_hal::can::{blocking::Can,Frame,Id,StandardId};
11+
12+
use socketcan::{Frame,CanSocketasCanSocketT,CanNormalSocketasCanSocket,CanNormalFrameasCanFrame};
13+
use embedded_hal::can::{blocking::Can,FrameasEmbeddedFrame,Id,StandardId};
1314

1415

1516
#[derive(Parser)]

‎examples/echo.rs

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -8,8 +8,8 @@
88
use anyhow::Context;
99
use clap::Parser;
1010

11-
use socketcan::{CanSocket,CanFrame};
12-
use embedded_hal::can::{blocking::Can,Frame,Id,StandardId};
11+
use socketcan::{Frame,CanSocketasCanSocketT,CanNormalSocketasCanSocket,CanNormalFrameasCanFrame};
12+
use embedded_hal::can::{blocking::Can,FrameasEmbeddedFrame,Id,StandardId};
1313

1414
use std::sync::atomic::{AtomicBool,Ordering};
1515
use std::sync::Arc;

‎examples/nonblocking.rs

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -8,8 +8,8 @@
88
use anyhow::Context;
99
use clap::Parser;
1010

11-
use socketcan::{CanSocket,CanFrame};
12-
use embedded_hal::can::{nb::Can,Frame,Id,StandardId};
11+
use socketcan::{Frame,CanSocketasCanSocketT,CanNormalSocketasCanSocket,CanNormalFrameasCanFrame};
12+
use embedded_hal::can::{nb::Can,FrameasEmbeddedFrame,Id,StandardId};
1313
use nb::block;
1414

1515

‎src/constants.rs

Lines changed: 0 additions & 55 deletions
This file was deleted.

‎src/dump.rs

Lines changed: 109 additions & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -14,6 +14,7 @@
1414
1515
use std::{fs, io, path};
1616
use hex::FromHex;
17+
usecrate::{CanNormalFrame,CanFdFrame, frame::{CANFD_BRS,CANFD_ESI}};
1718

1819
// cannot be generic, because from_str_radix is not part of any Trait
1920
fnparse_raw(bytes:&[u8],radix:u32) ->Option<u64>{
@@ -55,7 +56,7 @@ pub struct CanDumpRecords<'a, R: 'a> {
5556
pubstructCanDumpRecord<'a>{
5657
pubt_us:u64,
5758
pubdevice:&'astr,
58-
pubframe:super::CanFrame,
59+
pubframe:super::CanAnyFrame,
5960
}
6061

6162
#[derive(Debug)]
@@ -126,16 +127,24 @@ impl<R: io::BufRead> Reader<R> {
126127
let device =::std::str::from_utf8(f).map_err(|_|ParseError::InvalidDeviceName)?;
127128

128129
// parse packet
129-
let can_raw = field_iter.next()
130-
.ok_or(ParseError::UnexpectedEndOfLine)?;
130+
let can_raw = field_iter.next().ok_or(ParseError::UnexpectedEndOfLine)?;
131131

132-
let sep_idx = can_raw.iter()
133-
.position(|&c| c ==b'#')
134-
.ok_or(ParseError::InvalidCanFrame)?;
132+
let sep_idx =
133+
can_raw.iter().position(|&c| c ==b'#').ok_or(ParseError::InvalidCanFrame)?;
135134
let(can_id,mut can_data) = can_raw.split_at(sep_idx);
136135

137-
// cut of linefeed and skip seperator
138-
can_data =&can_data[1..];
136+
// determine frame type (FD or classical) and skip separator(s)
137+
letmut fd_flags:u8 =0;
138+
let is_fd_frame =ifletSome(&b'#') = can_data.get(1){
139+
fd_flags = can_data[2];
140+
can_data =&can_data[3..];
141+
true
142+
}else{
143+
can_data =&can_data[1..];
144+
false
145+
};
146+
147+
// cut of linefeed
139148
ifletSome(&b'\n') = can_data.last(){
140149
can_data =&can_data[..can_data.len() -1];
141150
};
@@ -147,16 +156,27 @@ impl<R: io::BufRead> Reader<R> {
147156
}else{
148157
Vec::from_hex(&can_data).map_err(|_|ParseError::InvalidCanFrame)?
149158
};
150-
let frame =super::CanFrame::init((parse_raw(can_id,16)
151-
.ok_or
152-
153-
154-
(ParseError::InvalidCanFrame))?
155-
asu32,
156-
&data,
157-
rtr,
158-
// FIXME: how are error frames saved?
159-
false)?;
159+
let frame:super::CanAnyFrame =if is_fd_frame{
160+
CanFdFrame::init(
161+
parse_raw(can_id,16).ok_or(ParseError::InvalidCanFrame)?asu32,
162+
&data,
163+
false,// TODO: is extended?
164+
// FIXME: how are error frames saved?
165+
false,
166+
fd_flags&CANFD_BRS ==CANFD_BRS,
167+
fd_flags&CANFD_ESI ==CANFD_ESI
168+
)
169+
.map(|frame|super::CanAnyFrame::Fd(frame))
170+
}else{
171+
CanNormalFrame::init(
172+
parse_raw(can_id,16).ok_or(ParseError::InvalidCanFrame)?asu32,
173+
&data,
174+
false,// TODO: is extended?
175+
rtr,
176+
false
177+
)
178+
.map(|frame|super::CanAnyFrame::Normal(frame))
179+
}?;
160180

161181
Ok(Some(CanDumpRecord{
162182
t_us,
@@ -167,7 +187,7 @@ impl<R: io::BufRead> Reader<R> {
167187
}
168188

169189
impl<'a,R: io::Read>IteratorforCanDumpRecords<'a, io::BufReader<R>>{
170-
typeItem =Result<(u64,super::CanFrame),ParseError>;
190+
typeItem =Result<(u64,super::CanAnyFrame),ParseError>;
171191

172192
fnnext(&mutself) ->Option<Self::Item>{
173193
// lift Option:
@@ -181,10 +201,9 @@ impl<'a, R: io::Read> Iterator for CanDumpRecords<'a, io::BufReader<R>> {
181201

182202
#[cfg(test)]
183203
mod test{
184-
usesuper::Reader;
185-
use embedded_hal::can::Frame;
186-
usecrate::util::hal_id_to_raw;
187-
204+
usesuper::*;
205+
usecrate::{Frame,CanAnyFrame,CanNormalFrameasCanFrame, util::hal_id_to_raw};
206+
use embedded_hal::can::FrameasEmbeddedFrame;
188207

189208
#[test]
190209
fntest_simple_example(){
@@ -198,26 +217,83 @@ mod test {
198217

199218
assert_eq!(rec1.t_us,1469439874299591);
200219
assert_eq!(rec1.device,"can1");
201-
assert_eq!(hal_id_to_raw(rec1.frame.id()),0x080);
202-
assert_eq!(rec1.frame.is_remote_frame(),false);
203-
assert_eq!(rec1.frame.is_error(),false);
204-
assert_eq!(rec1.frame.is_extended(),false);
205-
assert_eq!(rec1.frame.data(),&[]);
220+
221+
ifletCanAnyFrame::Normal(frame) = rec1.frame{
222+
assert_eq!(hal_id_to_raw(rec1.frame.id()),0x080);
223+
assert_eq!(frame.is_rtr(),false);
224+
assert_eq!(frame.is_error(),false);
225+
assert_eq!(frame.is_extended(),false);
226+
assert_eq!(frame.data(),&[]);
227+
}
228+
else{
229+
panic!("Expected Normal frame, got FD");
230+
}
206231
}
207232

208233
{
209234
let rec2 = reader.next_record().unwrap().unwrap();
210235
assert_eq!(rec2.t_us,1469439874299654);
211236
assert_eq!(rec2.device,"can1");
212-
assert_eq!(hal_id_to_raw(rec2.frame.id()),0x701);
213-
assert_eq!(rec2.frame.is_remote_frame(),false);
214-
assert_eq!(rec2.frame.is_error(),false);
215-
assert_eq!(rec2.frame.is_extended(),false);
216-
assert_eq!(rec2.frame.data(),&[0x7F]);
237+
238+
ifletCanAnyFrame::Normal(frame) = rec2.frame{
239+
assert_eq!(hal_id_to_raw(rec2.frame.id()),0x701);
240+
assert_eq!(frame.is_rtr(),false);
241+
assert_eq!(frame.is_error(),false);
242+
assert_eq!(frame.is_extended(),false);
243+
assert_eq!(frame.data(),&[0x7F]);
244+
}
245+
else{
246+
panic!("Expected Normal frame, got FD");
247+
}
217248
}
218249

219250
assert!(reader.next_record().unwrap().is_none());
220251
}
221252

253+
#[test]
254+
fntest_fd(){
255+
let input:&[u8] =b"(1469439874.299591) can1 080##0\n\
256+
(1469439874.299654) can1 701##17F";
222257

258+
letmut reader =Reader::from_reader(input);
259+
260+
{
261+
let rec1 = reader.next_record().unwrap().unwrap();
262+
263+
assert_eq!(rec1.t_us,1469439874299591);
264+
assert_eq!(rec1.device,"can1");
265+
ifletCanAnyFrame::Fd(frame) = rec1.frame{
266+
assert_eq!(frame.id(),0x080);
267+
assert_eq!(frame.is_remote_frame(),false);
268+
assert_eq!(frame.is_error(),false);
269+
assert_eq!(frame.is_extended(),false);
270+
assert_eq!(frame.is_brs(),false);
271+
assert_eq!(frame.is_esi(),false);
272+
assert_eq!(frame.data(),&[]);
273+
}
274+
else{
275+
panic!("Expected FD frame, got Normal");
276+
}
277+
}
278+
279+
{
280+
let rec2 = reader.next_record().unwrap().unwrap();
281+
assert_eq!(rec2.t_us,1469439874299654);
282+
assert_eq!(rec2.device,"can1");
283+
ifletCanAnyFrame::Fd(frame) = rec2.frame{
284+
assert_eq!(frame.id(),0x701);
285+
assert_eq!(frame.is_remote_frame(),false);
286+
assert_eq!(frame.is_error(),false);
287+
assert_eq!(frame.is_extended(),false);
288+
assert_eq!(frame.is_brs(),true);
289+
assert_eq!(frame.is_esi(),false);
290+
assert_eq!(frame.data(),&[0x7F]);
291+
}
292+
else{
293+
panic!("Expected FD frame, got Normal");
294+
}
295+
}
296+
297+
assert!(reader.next_record().unwrap().is_none());
298+
}
223299
}

‎src/err.rs

Lines changed: 6 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -1,30 +1,26 @@
11
// information from https://raw.githubusercontent.com/torvalds/linux/master/
22
// /include/uapi/linux/can/error.h
33

4-
usesuper::CanFrame;
5-
use embedded_hal::can::Frame;
4+
usecrate::Frame;
65
use std::{
76
convert::TryFrom,
87
error,
98
fmt,
109
io,
1110
};
1211

13-
1412
#[inline]
1513
/// Helper function to retrieve a specific byte of frame data or returning an
1614
/// `Err(..)` otherwise.
17-
fnget_data(frame:&CanFrame,idx:u8) ->Result<u8,CanErrorDecodingFailure>{
18-
Ok(*(frame.data()
19-
.get(idxasusize)
20-
.ok_or(CanErrorDecodingFailure::NotEnoughData(idx)))?)
15+
fnget_data(frame:&implFrame,idx:u8) ->Result<u8,CanErrorDecodingFailure>{
16+
Ok(*frame.data().get(idxasusize).ok_or(CanErrorDecodingFailure::NotEnoughData(idx))?)
2117
}
2218

2319

2420
/// Error decoding a CanError from a CanFrame.
2521
#[derive(Copy,Clone,Debug)]
2622
pubenumCanErrorDecodingFailure{
27-
/// The suppliedCanFrame did not have the error bit set.
23+
/// The suppliedCANFrame did not have the error bit set.
2824
NotAnError,
2925

3026
/// The error type is not known and cannot be decoded.
@@ -429,7 +425,7 @@ impl TryFrom<u8> for TransceiverError {
429425
}
430426

431427
implCanError{
432-
pubfnfrom_frame(frame:&CanFrame) ->Result<Self,CanErrorDecodingFailure>{
428+
pubfnfrom_frame(frame:&implFrame) ->Result<Self,CanErrorDecodingFailure>{
433429
if !frame.is_error(){
434430
returnErr(CanErrorDecodingFailure::NotAnError);
435431
}
@@ -462,7 +458,7 @@ pub trait ControllerSpecificErrorInformation {
462458
fnget_ctrl_err(&self) ->Option<&[u8]>;
463459
}
464460

465-
implControllerSpecificErrorInformationforCanFrame{
461+
impl<T:Frame>ControllerSpecificErrorInformationforT{
466462
#[inline]
467463
fnget_ctrl_err(&self) ->Option<&[u8]>{
468464
let data =self.data();
@@ -530,4 +526,3 @@ impl From<io::Error> for CanSocketOpenError {
530526
}
531527
}
532528

533-

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