Initial commit of files

include/libcan++/CanDatabase.h

@@ -0,0 +1,63 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __CanDatabase__
+#define __CanDatabase__
+
+/* includes *****************************************************************/
+
+#include    <sys/types.h>
+#include    <vector>
+
+#include    "CanSignal.h"
+#include    "CanSocket.h"
+#include    "DbcParser.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+/**
+ * CAN class to handle database of CAN signals from DBC (.dbc) file
+ */
+class CanDatabase : public DbcParser {
+    // public data
+public:
+    
+    // private data
+private:
+    
+    // static data
+
+    // public methods
+public:
+    // constructors
+    CanDatabase();
+    
+    // destructor
+    virtual ~CanDatabase();
+    
+    // virtual functions
+
+    // public methods
+    int FormatHeader( char *buf, int max );
+    int FormatMessage( char *buf, int max );
+    
+    int SubscribeCan( CanSocket *pCan );
+    int ReadCan( CanSocket *pCan );
+
+    // static methods
+
+    // private methods
+private:
+};
+
+#endif

include/libcan++/CanMessage.h

@@ -0,0 +1,74 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __CanMessage__
+#define __CanMessage__
+
+/* includes *****************************************************************/
+
+#include    <sys/types.h>
+#include    <string>
+#include    <vector>
+
+#include "CanSignal.h"
+#include "CanSocket.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+// based on .dbc data
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class CanMessage {
+    // public data
+public:
+    std::string     Name;       // Signal Name
+    std::string     Module;     // Module Name
+    u_int32_t   Address;     // 29 bits (standard or extended)
+    u_int8_t	Data[64];    // Data
+    u_int       Size;        // DLC (CAN-FD > 8)
+
+
+    // list of signals in the message
+    std::vector<CanSignal *>  Signals;
+
+    // private data
+private:
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    CanMessage();
+
+    // destructor
+    virtual ~CanMessage();
+
+    // virtual functions
+
+    // public methods
+    int Read(CanFrame *frame);
+    int Write(CanFrame *frame);
+    int Convert(CanFrame *frame) {return Read(frame);};
+    int Subscribe(void);
+    int Unsubscribe(void);
+
+    // static methods
+
+    // private methods
+private:
+};
+
+#endif

include/libcan++/CanSignal.h

@@ -0,0 +1,116 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __CanSignal__
+#define __CanSignal__
+
+/* includes *****************************************************************/
+
+#include    <sys/types.h>
+#include    <string>
+#include    <vector>
+
+//#include "BaseSignal.h"
+//#include "VoltType.h"
+
+#include "CanSocket.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+// based on .dbc data
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+#ifdef __BaseSignal__
+class CanSignal : public BaseSignal, public VoltType {
+#else
+class CanSignal {
+#endif
+    // public data
+public:
+    std::string     Name;   // Signal Name
+    std::string     Units;  // Signal Units
+    u_int32_t Address;      // 29 bits (standard or extended)
+
+    // data conversion (from .dbc file)
+    u_char  StartBit;       // 0..63
+    u_char  NumBits;        // 1..32
+    u_char  BigEndian;      // 0 = little endian (intel), 1 = big endian (moto)
+    u_char  IsSigned;       // 0 = unsigned, 1 = 2's Complement
+    double  Scale;          // scale
+    double  Offset;         // offset
+
+    // conversion help
+    u_char  StartByte;      // 0..7
+    u_char  NumBytes;       // 1..4
+    u_char  HighBit;        // 0..7
+    u_char  LowBit;         // #bits after
+    u_int64_t   Mask;       // 64 bit mask
+    u_int64_t   Sign;       // 64 bit sign mask
+
+    // status, data
+    u_char  doSubscribe;    // CanSocket filter
+    u_char  isNew;
+    u_char  isValid;
+    int32_t rawValue;
+    int64_t currValue;
+    int64_t lastValue;
+    double  realValue;
+
+    // misc
+    u_int64_t activity;     // activity counter
+    void    *userData;      // user data
+    int     userIndex;      // user index
+
+
+    // private data
+private:
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    CanSignal();
+
+    // destructor
+    virtual ~CanSignal();
+
+    // virtual functions
+
+    // public methods
+    int Init( void );
+    int Convert(CanFrame *frame) {return Read(frame->data);};
+    int Read(CanFrame *frame) {return Read(frame->data);};
+    int Read(const u_char *pbyData, long *ldata=NULL, double *ddata=NULL);
+    int Write(CanFrame *frame) {return Write(frame->data);};
+    int Write(u_char *pbyData);
+    int Write(long value, u_char *pbyData);
+    long Write(double value, u_char *pbyData);
+    void Subscribe(void) {doSubscribe=1;};
+    void Unsubscribe(void) {doSubscribe=0;};
+
+#ifndef __VoltType__
+    void SetScaling( double scale=1.0, double offset=0.0 ) { Scale=scale; Offset=offset; };
+    double GetScale( void ) { return Scale; };
+    double GetOffset( void ) { return Offset; };
+#endif
+
+    // static methods
+
+    // private methods
+private:
+};
+
+#endif

include/libcan++/CanSocket.h

@@ -0,0 +1,101 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __CanSocket__
+#define __CanSocket__
+
+/* includes *****************************************************************/
+
+#include    <vector>
+
+#include    "netlib.h"
+
+#include    <linux/can.h>
+#include    <linux/can/raw.h>
+#include    <linux/can/bcm.h>
+
+
+/* defines ******************************************************************/
+
+#define CAN_MAX_FILTER       31
+#define CAN_MAX_ADDRESSES   256
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+typedef struct can_filter CanFilter;
+typedef struct can_frame CanFrame;
+
+typedef struct _BcmFrame {
+    struct bcm_msg_head head;
+    struct can_frame    frame;
+} BcmFrame;
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class CanSocket {
+    // public data
+public:
+    int     m_sock;
+    int     m_proto;
+
+    // private data
+private:
+    // device
+    int     m_flags;
+
+    // errors
+    bool    m_logerrs;
+    long    m_errcount;
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    CanSocket();
+
+    // destructor
+    virtual ~CanSocket();
+
+    // virtual functions
+
+    // public methods
+    void    AddrFlags( u_long f ) { m_flags = f; };
+    int     GetSock(void) {return m_sock;};
+    int     GetSocket(void) {return m_sock;};
+    int     GetProto(void) {return m_proto;};
+    int     CanOpen( const char *dev="can0", int proto=CAN_RAW, int flags=0 );
+    void    CanClose(void);
+
+    // misc
+    int     ClearFilters( void );
+    int     Blocking(bool block=true);
+    int     NonBlocking(void) { return Blocking(false); };
+    int     Loopback(bool loop=true);
+    int     NoLoopback(void) { return Loopback(false); };
+    void    LogErrors(bool logerrs=true) {m_logerrs = logerrs;};
+
+    // rx filter
+    int     CanAddRx( u_int32_t addr );
+    int     CanAddRx( const CanFilter *filter, int max=1 );
+    int     CanDelRx( u_int32_t addr );
+
+    // raw
+    int     CanRawRead( CanFrame *buf, int max=1 );
+    int     CanRawWrite( const CanFrame *buf, int max=1 );
+
+    // bcm
+    int     CanBcmRead( BcmFrame *msg, int max=1 );
+    int     CanBcmWrite( BcmFrame *msg, int max=1 );
+};
+
+#endif

include/libcan++/DbcParser.h

@@ -0,0 +1,87 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __DbcParser__
+#define __DbcParser__
+
+/* includes *****************************************************************/
+
+#include    <regex.h>
+#include    <vector>
+
+#include    "CanMessage.h"
+#include    "CanSignal.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+// based on .dbc data
+typedef struct _DbcFilter {
+    // signal information
+    char    Name[32];       // Signal name
+    regex_t preg;
+
+    // address range
+    u_int32_t   CanAddrLo;   // 29 bits
+    u_int32_t   CanAddrHi;
+
+    // data conversion
+    u_char  StartBit;       // 0..63
+    u_char  NumBits;        // 1..32
+
+    int     found;
+} DbcFilter;
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class DbcParser {
+    // public data
+public:
+    std::vector<DbcFilter *>  MsgFilters;            // message filter
+    std::vector<DbcFilter *>  SigFilters;            // signal filter
+    std::vector<CanMessage *> Messages;
+    std::vector<CanSignal *>  Signals;
+
+    // private data
+private:
+
+    // static data
+
+    // private methods
+    DbcFilter *AddFilter( char *name, u_int32_t addr1, u_int32_t addr2 );
+
+    // public methods
+public:
+    // constructors
+    DbcParser();
+
+    // destructor
+    virtual ~DbcParser();
+
+    // virtual functions
+
+    // public methods
+    int AddMsgFilter( char *name, u_int32_t addr1, u_int32_t addr2 );
+    int AddSigFilter( char *name, u_int32_t addr1, u_int32_t addr2 );
+    int AddMessage( char *name, u_int32_t addr, u_int32_t size, char *module );
+    int AddSignal( char *name, char *units, u_int32_t addr, char start, char num, char endian, char sign, float scale, float offset );
+
+    int LoadDatabase( const char *file );
+
+    // static methods
+
+    // private methods
+private:
+};
+
+#endif