This namespace contains all canbus library related code. More...

Classes
struct	busStatusStruct
	Bus Status type. More...

class	CanDio
	Class to control the CARMA specialized Janz CAN/DIO card. More...

class	CanIo
	CanIo interface. More...

class	CanOutput
	CanOutput interface. More...

class	Device
	Abstract base class for all CAN Bus devices. More...

class	DeviceNames
	Completely static class to retrieve string names of CAN devices based on API Id. More...

class	Dio
	Dio abstract base class. More...

class	DirectCan
	The DirectCan class is intended for use as a way to access the CANbus from multiple separate processes in conjunction with a process implementing the DO model. More...

class	GpioDio
	GpioDio class for use with gpio framework. More...

class	InetCan
	InetCan class. More...

class	JanzCanIo
	JanzCanIo class. More...

class	JanzDio
	Dio class for use with Janz char driver. More...

class	JanzMessage
	This class encapsulate a Janz CAN message. More...

class	Master
	Carma Canbus Master class. More...

class	MasterOfNone
	Carma CAN MasterOfNone class. More...

class	Message
	Class to encapsulate a CAN message. More...

class	SocketCan
	Implements the CanIo interface using the socketcan framework. More...

Typedefs
typedef unsigned short	apiType
	Carma API id type. More...

typedef unsigned short	boardType
	Carma Board Type id type. More...

typedef unsigned short	busIdType
	Carma Bus Id type. More...

typedef enum carma::canbus::busStateEnum	busStateType
	Bus State type. More...

typedef std::map< busIdType, busStatusType >	BusStatusMap
	Map to hold bus status for multiple busses. More...

typedef struct carma::canbus::busStatusStruct	busStatusType
	Bus Status type. More...

typedef unsigned char	BYTE_t

typedef unsigned char	byteType
	Base raw CAN byte. More...

typedef ::std::vector < ::carma::canbus::byteType >	DataVector
	Alias for CAN data. More...

typedef enum carma::canbus::deviceStateEnum	deviceStateType

typedef unsigned int	idType
	Type for full 29 bit CAN id. More...

typedef unsigned int	keyType
	Unique key identifier for each device. More...

typedef enum carma::canbus::modeTypeEnum	modeType
	Mode type. More...

typedef ::std::map < ::carma::canbus::msgType,::std::string >	MsgBriefMap
	Alias for message descriptions keyed by message id. More...

typedef ::std::map < ::carma::canbus::msgType,::std::string >	MsgIdInfoMap
	Alias for an ::std::map containing a string description of a message id, keyed by the described carma::canbus::msgType message id. More...

typedef unsigned short	msgType
	Carma Message id type. More...

typedef unsigned short	nodeType
	Carma Node Type id type. More...

typedef unsigned short	portType
	Port id type for multi-port boards. More...

typedef unsigned short	serialNumberType
	Carma Serial Number type. More...

Enumerations
enum	busStateEnum { NO_ERRORS = 0, ERROR_ACTIVE = 1, ERROR_PASSIVE = 2, BUS_OFF = 3 }
	Bus State type. More...

enum	deviceStateEnum { OFFLINE, STARTING, ONLINE, SIMULATED }
	Device state type enumeration. More...

enum	modeTypeEnum { ENGINEERING = 1, APPLICATION = 0 }
	Mode type. More...

enum	txPriorityType { HIGH = 1, NORMAL = 2, LOW = 3 }
	CAN Tx priority type. More...

Functions
timespec	calculateTimeToNextHalfSec ()
	Calculate the time to the next half second boundary. More...

timespec	calculateTimeToNextSlowBoundary ()
	Calculate the time to the next five second boundary. More...

idType	createEngId (bool host, boardType board, serialNumberType serialNumber, msgType mid)
	Produce a CAN message from a board type and serial number (engineering message). More...

idType	createId (bool host, apiType api, nodeType node, msgType mid)
	Create a CAN id from api, node and mid. More...

double	dataToDouble (std::vector< byteType > &data)
	Convert data vector to IEEE double. More...

float	dataToFloat (std::vector< byteType > &data)
	Convert data vector to IEEE float. More...

long	dataToLong (std::vector< byteType > &data)
	Convert data vector to signed long integer. More...

short	dataToShort (std::vector< byteType > &data)
	Convert data vector to signed short integer. More...

unsigned char	dataToUbyte (std::vector< byteType > &data)
	Convert data vector to unsigned byte. More...

unsigned long	dataToUlong (std::vector< byteType > &data)
	Convert data vector to unsigned long integer. More...

unsigned short	dataToUshort (std::vector< byteType > &data)
	Convert data vector to unsigned short integer. More...

void	doubleToData (std::vector< byteType > &data, double value)
	Convert a IEEE 754-1990 double float (8 bytes) into raw CAN bytes. More...

busIdType	extractBusId (std::string filename)
	Extract the busId from a string containing the device filename. More...

void	floatToData (std::vector< byteType > &data, float value)
	Convert a IEEE 754-1990 float (4 bytes) into raw CAN bytes. More...

void	fromEngId (boardType &bt, serialNumberType &sn, msgType &mid, idType engId)
	Convert a raw CAN id to board type, serial number and mid. More...

void	fromId (apiType &api, nodeType &node, msgType &mid, idType id)
	Convert a raw CAN id to api code, node location and mid. More...

modeType	getMode (idType id)
	Extract the address mode from a 29 bit can id. More...

bool	isToHost (idType id)
	Extract the host bit from a 29 bit CAN id. More...

	MAKE_DERIVED_ERROR_EXCEPTION (SystemException)

	MAKE_DERIVED_ERROR_EXCEPTION (TxBufferFullException)

	MAKE_DERIVED_ERROR_EXCEPTION (BadDataSizeException)

	MAKE_DERIVED_ERROR_EXCEPTION (BadParameterException)

	MAKE_DERIVED_ERROR_EXCEPTION (BufferOverflowException)

	MAKE_DERIVED_ERROR_EXCEPTION (JanzFailException)

	MAKE_DERIVED_ERROR_EXCEPTION (PthreadFailException)

void	padWithZeros (std::vector< byteType > &data)
	Pad an input vector with up to 8 bytes of zeros. More...

void	sLongToData (std::vector< byteType > &data, long value)
	Convert a signed long integer (4 bytes) into raw CAN bytes. More...

void	sShortToData (std::vector< byteType > &data, short value)
	Convert a signed short integer (2 bytes) into raw CAN bytes. More...

void	uByteToData (std::vector< byteType > &data, unsigned char value)
	Convert a unsigned char into raw CAN bytes. More...

void	uLongToData (std::vector< byteType > &data, unsigned long value)
	Convert an unsigned long integer (4 bytes) into raw CAN bytes. More...

void	uShortToData (std::vector< byteType > &data, unsigned short value)
	Convert an unsigned short integer (2 bytes) into raw CAN bytes. More...

int	validateModulbusNo (int modulbusNo)
	Validate a modulbusNo. More...

int	validateSlotNo (int slotNo)
	Validate slot number for CANbus slot. More...

Variables
const busIdType	ALL_BUSSES = 0xffff
	Specifies that a message should be sent to ALL_BUSSES. More...

const std::string	CAN_INPUT_IPQ = "/can-input.ipq"

const std::string	CAN_OUTPUT_IPQ = "/can-output.ipq"

const apiType	DUMMY_PKT_API = 0xFF
	Dummy packet api. More...

const msgType	DUMMY_PKT_MID = 0x3FF
	Dummy packet message id. More...

const long	IPQ_BUFFER_SIZE = 150000
	DirectCan IPQ buffer sizes. More...

const int	NANOSECS_PER_SEC = 1000000000

const bool	TO_HOST = true
	Constant for bool host parameter of createId indicating that the message is to be addressed to the linux host. More...

const bool	TO_NODES = false
	Constant for bool host parameter of createId indicating that the message is to be addressed to the can nodes on the bus. More...

Detailed Description

This namespace contains all canbus library related code.

Typedef Documentation

typedef unsigned short carma::canbus::apiType

Carma API id type.

Definition at line 64 of file Types.h.

typedef unsigned short carma::canbus::boardType

Carma Board Type id type.

Definition at line 65 of file Types.h.

typedef unsigned short carma::canbus::busIdType

Carma Bus Id type.

Definition at line 70 of file Types.h.

typedef enum carma::canbus::busStateEnum carma::canbus::busStateType

Bus State type.

The Bus states are standard CAN bus states which are defined by the number of rx or tx errors recorded by the CAN controller.

typedef std::map< busIdType, busStatusType > carma::canbus::BusStatusMap

Map to hold bus status for multiple busses.

Definition at line 153 of file Types.h.

typedef struct carma::canbus::busStatusStruct carma::canbus::busStatusType

Bus Status type.

Bus status contains variables useful for determining the health of the bus. They are maintained by CanIo

See Also: carma::canbus::CanIo

typedef unsigned char carma::canbus::byteType

Base raw CAN byte.

Definition at line 61 of file Types.h.

typedef ::std::vector< ::carma::canbus::byteType> carma::canbus::DataVector

Alias for CAN data.

Definition at line 72 of file Types.h.

typedef unsigned int carma::canbus::idType

Type for full 29 bit CAN id.

Definition at line 60 of file Types.h.

typedef unsigned int carma::canbus::keyType

Unique key identifier for each device.

Definition at line 68 of file Types.h.

typedef enum carma::canbus::modeTypeEnum carma::canbus::modeType

Mode type.

The mode type is extracted from the CAN id. It is a single bit and designates how the application should interpret the 29 bit CAN id.

typedef ::std::map< ::carma::canbus::msgType, ::std::string > carma::canbus::MsgBriefMap

Alias for message descriptions keyed by message id.

Definition at line 74 of file Types.h.

typedef ::std::map< ::carma::canbus::msgType, ::std::string > carma::canbus::MsgIdInfoMap

Alias for an ::std::map containing a string description of a message id, keyed by the described carma::canbus::msgType message id.

Definition at line 30 of file Device.h.

typedef unsigned short carma::canbus::msgType

Carma Message id type.

Definition at line 69 of file Types.h.

typedef unsigned short carma::canbus::nodeType

Carma Node Type id type.

Definition at line 66 of file Types.h.

typedef unsigned short carma::canbus::portType

Port id type for multi-port boards.

Definition at line 62 of file Types.h.

typedef unsigned short carma::canbus::serialNumberType

Carma Serial Number type.

Definition at line 67 of file Types.h.

Enumeration Type Documentation

enum carma::canbus::busStateEnum

Bus State type.

The Bus states are standard CAN bus states which are defined by the number of rx or tx errors recorded by the CAN controller.

Enumerator
NO_ERRORS	Rx and tx error count = 0.
ERROR_ACTIVE	Rx and tx error count < 127.
ERROR_PASSIVE	Rx and tx error count < 255.
BUS_OFF	Rx and tx error count = 255.

Definition at line 110 of file Types.h.

enum carma::canbus::deviceStateEnum

Device state type enumeration.

Defines the various states of a CAN device.

Enumerator
OFFLINE	Monitor packets are not being received from the module.
STARTING	The module has sent out a single slow monitor packet to identify itself. The module should begin sending normal blanking frame packets after about five seconds.
ONLINE	Host is receiving CAN messages on a half second time scale.
SIMULATED	Host is simulating the receipt of monitor packets for this module.

Definition at line 183 of file Types.h.

enum carma::canbus::modeTypeEnum

Mode type.

The mode type is extracted from the CAN id. It is a single bit and designates how the application should interpret the 29 bit CAN id.

Enumerator
ENGINEERING	Decode CAN Id in serial num, board type form.
APPLICATION	Decode CAN id in API, Node form.

Definition at line 99 of file Types.h.

enum carma::canbus::txPriorityType

CAN Tx priority type.

CAN messages are sent via prioritized queues.

Definition at line 194 of file Types.h.

Function Documentation

timespec carma::canbus::calculateTimeToNextHalfSec ( )

Calculate the time to the next half second boundary.

This routine calculates the amount of time necessary to sleep until the next half second boundary as determined by absolute time.

Returns: timespec containing amount of time to sleep until next half second boundary.

timespec carma::canbus::calculateTimeToNextSlowBoundary ( )

Calculate the time to the next five second boundary.

This routine calculates the amount of time necessary to sleep until the next five second boundary as determined by absolute time.

Returns: timespec containing amount of time to sleep until next five second boundary.

idType carma::canbus::createEngId	(	bool	host,
		boardType	board,
		serialNumberType	serialNumber,
		msgType	mid
	)

Produce a CAN message from a board type and serial number (engineering message).

Parameters

host	send to host.
board	the board id being addressed.
serialNumber	of board being addressed.
mid	message id.

Returns: 29 bit CAN id.

idType carma::canbus::createId	(	bool	host,
		apiType	api,
		nodeType	node,
		msgType	mid
	)

Create a CAN id from api, node and mid.

Creates an application message from the api, node and message id addressed to either the host or nodes.

Parameters

host	addressed to host or nodes.
api	id.
node	message node location id.
mid	of message.

double carma::canbus::dataToDouble ( std::vector< byteType > & data )

Convert data vector to IEEE double.

This routine interprets the first 8 bytes of a vector of raw CAN data as an IEEE double floating point value. It then extracts, converts and returns the double.

Parameters

data	is the vector to extract the double from.

Returns: double.

Exceptions

carma::canbus::BadDataSizeException if data vector is < than 8 bytes.

float carma::canbus::dataToFloat ( std::vector< byteType > & data )

Convert data vector to IEEE float.

This routine interprets the first 4 bytes of a vector of raw CAN data as an IEEE floating point value. It then extracts, converts and returns the float.

Parameters

data	is the vector to extract the float from.

Returns: float.

Exceptions

carma::canbus::BadDataSizeException if data vector is < than 4 bytes.

long carma::canbus::dataToLong ( std::vector< byteType > & data )

Convert data vector to signed long integer.

This routine interprets the first 4 bytes of a vector of raw CAN data as an signed long integer in network byte order. It then extracts, converts and returns the signed int.

Parameters

data	is the vector to extract the signed long from.

Returns: signed long.

Exceptions

carma::canbus::BadDataSizeException if data vector is < than 4 bytes.

short carma::canbus::dataToShort ( std::vector< byteType > & data )

Convert data vector to signed short integer.

This routine interprets the first 2 bytes of a vector of raw CAN data as an signed short integer in network byte order. It then extracts, converts and returns the signed int.

Parameters

data	is the vector to extract the signed short from.

Returns: unsigned long.

Exceptions

carma::canbus::BadDataSizeException if data vector is < than 2 bytes.

unsigned char carma::canbus::dataToUbyte ( std::vector< byteType > & data )

Convert data vector to unsigned byte.

This routine interprets the first byte of a vector of raw CAN data as an unsigned byte and returns the byte.

Parameters

data	is the vector to extract the unsigned byte from.

Returns: unsigned byte.

Exceptions

carma::canbus::BadDataSizeException if data vector is empty.

unsigned long carma::canbus::dataToUlong ( std::vector< byteType > & data )

Convert data vector to unsigned long integer.

This routine interprets the first 4 bytes of a vector of raw CAN data as an unsigned long integer in network byte order. It then extracts, converts and returns the unsigned int.

Parameters

data	is the vector to extract the unsigned long from.

Returns: unsigned long.

Exceptions

carma::canbus::BadDataSizeException if data vector is < than 4 bytes.

unsigned short carma::canbus::dataToUshort ( std::vector< byteType > & data )

Convert data vector to unsigned short integer.

This routine interprets the first 2 bytes of a vector of raw CAN data as an unsigned short integer in network byte order. It then extracts, converts and returns the unsigned int.

Parameters

data	is the vector to extract the unsigned short from.

Returns: unsigned short.

Exceptions

carma::canbus::BadDataSizeException if data vector is < than 2 bytes.

void carma::canbus::doubleToData	(	std::vector< byteType > &	data,
		double	value
	)

Convert a IEEE 754-1990 double float (8 bytes) into raw CAN bytes.

This routine takes an input double float value and adds it to the input vector of raw CAN bytes in network byte order. This enables one to build a full CAN data packet by consecutively calling the appropriate typeToData routine.

Parameters

data	is the vector to append the data to.
value	is the double to append to the data.

Exceptions

carma::canbus::BadDataSizeException if resulting vector is > than 8 bytes.

busIdType carma::canbus::extractBusId ( std::string filename )

Extract the busId from a string containing the device filename.

In order to maintain unique busIds on a multiprocess multi canbus system, I use the can device filename to determine the bus Id.

Exceptions

carma::canbus::BadParameterException if input filename is invalid.

void carma::canbus::floatToData	(	std::vector< byteType > &	data,
		float	value
	)

Convert a IEEE 754-1990 float (4 bytes) into raw CAN bytes.

This routine takes an input floating point value and adds it to the input vector of raw CAN bytes in network byte order. This enables one to build a full CAN data packet by consecutively calling the appropriate typeToData routine.

Parameters

data	is the vector to append the data to.
value	is the float to append to the data.

Exceptions

carma::canbus::BadDataSizeException if resulting vector is > than 8 bytes.

void carma::canbus::fromEngId	(	boardType &	bt,
		serialNumberType &	sn,
		msgType &	mid,
		idType	engId
	)

Convert a raw CAN id to board type, serial number and mid.

Parameters

bt	board type id.
sn	serial number id.
mid	message id.
engId	full Engineering CAN message id.

void carma::canbus::fromId	(	apiType &	api,
		nodeType &	node,
		msgType &	mid,
		idType	id
	)

Convert a raw CAN id to api code, node location and mid.

Parameters

api	api id.
node	node id.
mid	message id.
id	full CAN message id.

modeType carma::canbus::getMode ( idType id )

Extract the address mode from a 29 bit can id.

Parameters

id	29 bit CAN address.

Returns: address mode ENGINEERING or APPLICATION.

bool carma::canbus::isToHost ( idType id )

Extract the host bit from a 29 bit CAN id.

Parameters

id	29 bit CAN address.

Returns: host bit (true = message addressed to host).

void carma::canbus::padWithZeros ( std::vector< byteType > & data )

Pad an input vector with up to 8 bytes of zeros.

This routine takes the input data, calculates it's size and fills the remaining space with up to 8 bytes of '0's. For example a single byte data vector, after being input to this routine, will contain the original data and 7 '0's.

Parameters

data	reference to vector to be stuffed with '0's.

Exceptions

carma::canbus::BadDataSizeException if data vector is > than 8 bytes.

void carma::canbus::sLongToData	(	std::vector< byteType > &	data,
		long	value
	)

Convert a signed long integer (4 bytes) into raw CAN bytes.

This routine takes an input signed long integer value and adds it to the input vector of raw CAN bytes in network byte order. This enables one to build a full CAN data packet by consecutively calling the appropriate typeToData routine.

Parameters

data	is the vector to append the data to.
value	is the signed long int to append to data.

Exceptions

carma::canbus::BadDataSizeException if resulting vector is > than 8 bytes.

void carma::canbus::sShortToData	(	std::vector< byteType > &	data,
		short	value
	)

Convert a signed short integer (2 bytes) into raw CAN bytes.

This routine takes an input signed short integer value and adds it to the input vector of raw CAN bytes in network byte order. This enables one to build a full CAN data packet by consecutively calling the appropriate typeToData routine.

Parameters

data	is the vector to append the data to.
value	is the signed short int to append to data.

Exceptions

carma::canbus::BadDataSizeException if resulting vector is > than 8 bytes.

void carma::canbus::uByteToData	(	std::vector< byteType > &	data,
		unsigned char	value
	)

Convert a unsigned char into raw CAN bytes.

This routine takes an input unsigned char value and adds it to the input vector of raw CAN bytes. This enbables one to build a full CAN data packet by consecutively calling the appropriate typeToData routine.

Parameters

data	is a reference to a vector which the data will be appended to.
data	is the vector to append the data to.
value	is the unsigned char to be appended to data.

Exceptions

carma::canbus::BadDataSizeException if resulting vector is > than 8 bytes.

void carma::canbus::uLongToData	(	std::vector< byteType > &	data,
		unsigned long	value
	)

Convert an unsigned long integer (4 bytes) into raw CAN bytes.

This routine takes an input unsigned long integer value and adds it to the input vector of raw CAN bytes in network byte order. This enables one to build a full CAN data packet by consecutively calling the appropriate typeToData routine.

Parameters

data	is the vector to append the data to.
value	is the unsigned long int to append to data.

Exceptions

carma::canbus::BadDataSizeException if resulting vector is > than 8 bytes.

void carma::canbus::uShortToData	(	std::vector< byteType > &	data,
		unsigned short	value
	)

Convert an unsigned short integer (2 bytes) into raw CAN bytes.

This routine takes an input unsigned short integer value and adds it to the input vector of raw CAN bytes in network byte order. This enables one to build a full CAN data packet by consecutively calling the appropriate typeToData routine.

Parameters

data	is the vector to append the data to.
value	is the unsigned short int to append to data.

Exceptions

carma::canbus::BadDataSizeException if resulting vector is > than 8 bytes.

int carma::canbus::validateModulbusNo ( int modulbusNo )

Validate a modulbusNo.

The janz modulbus hardware has a hex switch to designate the modulbus id of the board. This routine, checks to make sure that a modulbusNo is within the range of 0x00 to 0x0f.

Parameters

modulbusNo to validate.

Returns: modulbusNo if validated.

Exceptions

carma::canbus::BadParameterException if invalid modulbusNo.

int carma::canbus::validateSlotNo ( int slotNo )

Validate slot number for CANbus slot.

The specialized janz CANDio card contains CANbus cards in modulbus slots 0 and 1 only. This routine checks to make sure that a input slot number is within that range and throws an exception otherwise.

Parameters

slotNo to validate.

Returns: slotNo if valid.

Exceptions

carma::canbus::BadParameterException if invalid slotNo.

Variable Documentation

const busIdType carma::canbus::ALL_BUSSES = 0xffff

Specifies that a message should be sent to ALL_BUSSES.

Definition at line 91 of file Types.h.

const apiType carma::canbus::DUMMY_PKT_API = 0xFF

Dummy packet api.

This api id is reserved for dummy messages.

Definition at line 80 of file Types.h.

const msgType carma::canbus::DUMMY_PKT_MID = 0x3FF

Dummy packet message id.

This message id is reserved for dummy messages.

Definition at line 86 of file Types.h.

const long carma::canbus::IPQ_BUFFER_SIZE = 150000

DirectCan IPQ buffer sizes.

Definition at line 213 of file Types.h.

const bool carma::canbus::TO_HOST = true

Constant for bool host parameter of createId indicating that the message is to be addressed to the linux host.

Definition at line 45 of file Utilities.h.

const bool carma::canbus::TO_NODES = false

Constant for bool host parameter of createId indicating that the message is to be addressed to the can nodes on the bus.

Definition at line 51 of file Utilities.h.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation