NCodec support for CAN FD.

Signed-off-by: Rule Timothy (VM/EMT3) <[email protected]>

doc/content/apis/ncodec/examples/ncodec_api.c

@@ -38,7 +38,8 @@ int main(int argc, char* argv[])
                           .name = "name", .value = "simple network codec" });
 
     /* Write a message to the Network Codec. */
-    ncodec_write(nc, &(struct NCodecMessage){ .frame_id = 42,
+    ncodec_write(nc, &(struct NCodecCanMessage){ .frame_id = 42,
+                         .frame_type = CAN_EXTENDED_FRAME,
                          .buffer = (uint8_t*)greeting,
                          .len = strlen(greeting) });
     ncodec_flush(nc);
@@ -47,7 +48,7 @@ int main(int argc, char* argv[])
     stream_seek(nc, 0, NCODEC_SEEK_SET);
 
     /* Read the response from the Network Codec. */
-    NCodecMessage msg = {};
+    NCodecCanMessage msg = {};
     rc = ncodec_read(nc, &msg);
     if (rc > 0) {
         printf("Message is: %s\n", (char*)msg.buffer);

doc/content/apis/ncodec/index.md

@@ -32,9 +32,9 @@ title Network Codec
 package "Model Environment" {
     interface "Signal Interface" as Sif
     component "Model" as foo {
-    		component "Model" as Model
-    		interface "CodecVTable" as Cvt
-    		component "Codec" as Codec
+                component "Model" as Model
+                interface "CodecVTable" as Cvt
+                component "Codec" as Codec
         interface "StreamVTable" as Svt
     }
     component "Stream" as Stream
@@ -73,6 +73,17 @@ center footer Dynamic Simulation Environment
 
 ## Typedefs
 
+### NCodecCanMessage
+
+```c
+typedef struct NCodecCanMessage {
+    uint32_t frame_id;
+    uint8_t* buffer;
+    size_t len;
+    NCodecCanFrameType frame_type;
+}
+```
+
 ### NCodecConfigItem
 
 ```c
@@ -92,16 +103,6 @@ typedef struct NCodecInstance {
 }
 ```
 
-### NCodecMessage
-
-```c
-typedef struct NCodecMessage {
-    uint32_t frame_id;
-    uint8_t* buffer;
-    size_t len;
-}
-```
-
 ### NCodecStreamVTable
 
 ```c
@@ -273,7 +274,8 @@ nc (NCODEC*)
 
 msg (NCodecMessage*)
 : (out) The message representation to write to the Network Codec. Caller owns
-  the message buffer/memory.
+  the message buffer/memory. Message type is defined by the codec
+implementation.
 
 #### Returns
 
@@ -351,7 +353,7 @@ nc (NCODEC*)
 
 msg (NCodecMessage*)
 : The message representation to write to the Network Codec. Caller owns the
-  message buffer/memory.
+  message buffer/memory. Message type is defined by the codec implementation.
 
 #### Returns
 

dse/ncodec/codec.c

@@ -168,7 +168,7 @@ nc (NCODEC*)
 
 msg (NCodecMessage*)
 : The message representation to write to the Network Codec. Caller owns the
-  message buffer/memory.
+  message buffer/memory. Message type is defined by the codec implementation.
 
 Returns
 -------
@@ -211,7 +211,8 @@ nc (NCODEC*)
 
 msg (NCodecMessage*)
 : (out) The message representation to write to the Network Codec. Caller owns
-  the message buffer/memory.
+  the message buffer/memory. Message type is defined by the codec
+implementation.
 
 Returns
 -------

dse/ncodec/codec.h

@@ -56,9 +56,9 @@ title Network Codec
 package "Model Environment" {
     interface "Signal Interface" as Sif
     component "Model" as foo {
-    		component "Model" as Model
-    		interface "CodecVTable" as Cvt
-    		component "Codec" as Codec
+                component "Model" as Model
+                interface "CodecVTable" as Cvt
+                component "Codec" as Codec
         interface "StreamVTable" as Svt
     }
     component "Stream" as Stream
@@ -139,11 +139,7 @@ typedef struct NCodecConfigItem {
     const char* value;
 } NCodecConfigItem;
 
-typedef struct NCodecMessage {
-    uint32_t frame_id;
-    uint8_t* buffer;
-    size_t   len;
-} NCodecMessage;
+typedef void NCodecMessage; /* Generic message container. */
 
 
 typedef int     NCodecLoad(const char* filename, const char* hint);
@@ -178,6 +174,21 @@ typedef struct NCodecInstance {
 
 /** NCODEC API */
 
+typedef enum NCodecCanFrameType {
+    CAN_BASE_FRAME = 0,
+    CAN_EXTENDED_FRAME = 1,
+    CAN_FD_BASE_FRAME = 2,
+    CAN_FD_EXTENDED_FRAME = 3,
+} NCodecCanFrameType;
+
+typedef struct NCodecCanMessage {
+    uint32_t           frame_id;
+    uint8_t*           buffer;
+    size_t             len;
+    NCodecCanFrameType frame_type;
+} NCodecCanMessage;
+
+
 /* Implemented by Codec. */
 DLL_PUBLIC NCodecCreate ncodec_create;
 

dse/ncodec/example/codec.c

@@ -47,16 +47,18 @@ int codec_write(NCODEC* nc, NCodecMessage* msg)
 {
     if (nc == NULL) return -ENOSTR;
     if (msg == NULL) return -EINVAL;
+    NCodecCanMessage* _msg = (NCodecCanMessage*)msg;
 
     __codec* _nc = (__codec*)nc;
-    _nc->c.stream->write(nc, msg->buffer, msg->len);
-    return msg->len;
+    _nc->c.stream->write(nc, _msg->buffer, _msg->len);
+    return _msg->len;
 }
 
 int codec_read(NCODEC* nc, NCodecMessage* msg)
 {
     if (nc == NULL) return -ENOSTR;
     if (msg == NULL) return -EINVAL;
+    NCodecCanMessage* _msg = (NCodecCanMessage*)msg;
 
     __codec* _nc = (__codec*)nc;
 
@@ -71,10 +73,10 @@ int codec_read(NCODEC* nc, NCodecMessage* msg)
     /* Construct the response. */
     strncat(data, " says ", buffer_len - strlen(data));
     strncat(data, _nc->name, buffer_len);
-    msg->len = strlen(data);
+    _msg->len = strlen(data);
     /* Return the message (buffer owned by stream, caller must duplicate). */
-    msg->buffer = (uint8_t*)data;
-    return msg->len;
+    _msg->buffer = (uint8_t*)data;
+    return _msg->len;
 }
 
 int codec_flush(NCODEC* nc)

dse/ncodec/example/example.c

@@ -38,7 +38,8 @@ int main(int argc, char* argv[])
                           .name = "name", .value = "simple network codec" });
 
     /* Write a message to the Network Codec. */
-    ncodec_write(nc, &(struct NCodecMessage){ .frame_id = 42,
+    ncodec_write(nc, &(struct NCodecCanMessage){ .frame_id = 42,
+                         .frame_type = CAN_EXTENDED_FRAME,
                          .buffer = (uint8_t*)greeting,
                          .len = strlen(greeting) });
     ncodec_flush(nc);
@@ -47,7 +48,7 @@ int main(int argc, char* argv[])
     stream_seek(nc, 0, NCODEC_SEEK_SET);
 
     /* Read the response from the Network Codec. */
-    NCodecMessage msg = {};
+    NCodecCanMessage msg = {};
     rc = ncodec_read(nc, &msg);
     if (rc > 0) {
         printf("Message is: %s\n", (char*)msg.buffer);

dse/ncodec/libs/automotive-bus/CMakeLists.txt

@@ -27,7 +27,7 @@ add_compile_options(${C_CXX_WARNING_FLAGS})
 # External Project - Automotive Bus Schema
 # -------------------------------------------
 FetchContent_Declare(automotive-bus-schema
-    URL https://github.com/boschglobal/automotive-bus-schema/releases/download/v1.0.2/automotive-bus-schema.tar.gz
+    URL https://github.com/boschglobal/automotive-bus-schema/releases/download/v1.0.3/automotive-bus-schema.tar.gz
 )
 FetchContent_MakeAvailable(automotive-bus-schema)
 set(SCHEMAS_SOURCE_DIR ${automotive-bus-schema_SOURCE_DIR}/flatbuffers/c)

dse/ncodec/libs/automotive-bus/frame_can_fbs.c

@@ -50,9 +50,10 @@ static void finalize_stream(
 
 int can_write(NCODEC* nc, NCodecMessage* msg)
 {
-    ABCodecInstance* _nc = (ABCodecInstance*)nc;
+    ABCodecInstance*  _nc = (ABCodecInstance*)nc;
+    NCodecCanMessage* _msg = (NCodecCanMessage*)msg;
     if (_nc == NULL) return -ENOSTR;
-    if (msg == NULL) return -EINVAL;
+    if (_msg == NULL) return -EINVAL;
     if (_nc->c.stream == NULL) return -ENOSR;
 
     flatcc_builder_t* B = &_nc->fbs_builder;
@@ -61,10 +62,10 @@ int can_write(NCODEC* nc, NCodecMessage* msg)
     ns(Stream_frames_push_start(B));
     ns(CanFrame_start(B));
     /* Encode the message. */
-    ns(CanFrame_frame_id_add(B, msg->frame_id));
+    ns(CanFrame_frame_id_add(B, _msg->frame_id));
+    ns(CanFrame_frame_type_add(B, _msg->frame_type));
     ns(CanFrame_payload_add(
-        B, flatbuffers_uint8_vec_create(B, msg->buffer, msg->len)));
-    ns(CanFrame_frame_type_add(B, ns(FrameTypes_CanFrame)));
+        B, flatbuffers_uint8_vec_create(B, _msg->buffer, _msg->len)));
     /* Add additional metadata. */
     ns(CanFrame_bus_id_add(B, _nc->bus_id));
     ns(CanFrame_node_id_add(B, _nc->node_id));
@@ -73,7 +74,7 @@ int can_write(NCODEC* nc, NCodecMessage* msg)
     ns(Frame_f_CanFrame_add(B, ns(CanFrame_end(B))));
     ns(Stream_frames_push_end(B));
 
-    return msg->len;
+    return _msg->len;
 }
 
 
@@ -137,14 +138,16 @@ static void get_vector_from_message(NCODEC* nc)
 
 int can_read(NCODEC* nc, NCodecMessage* msg)
 {
-    ABCodecInstance* _nc = (ABCodecInstance*)nc;
+    ABCodecInstance*  _nc = (ABCodecInstance*)nc;
+    NCodecCanMessage* _msg = (NCodecCanMessage*)msg;
     if (_nc == NULL) return -ENOSTR;
-    if (msg == NULL) return -EINVAL;
+    if (_msg == NULL) return -EINVAL;
     if (_nc->c.stream == NULL) return -ENOSR;
 
     /* Reset the message, in case caller ignores the return value. */
-    msg->len = 0;
-    msg->buffer = NULL;
+    _msg->len = 0;
+    _msg->frame_type = CAN_BASE_FRAME;
+    _msg->buffer = NULL;
 
     /* Process the stream/frames. */
     if (_nc->msg_ptr == NULL) get_msg_from_stream(nc);
@@ -164,15 +167,16 @@ int can_read(NCODEC* nc, NCodecMessage* msg)
                 continue;
 
             /* Return the message. */
-            msg->frame_id = ns(CanFrame_frame_id(can_frame));
+            _msg->frame_id = ns(CanFrame_frame_id(can_frame));
+            _msg->frame_type = ns(CanFrame_frame_type(can_frame));
             flatbuffers_uint8_vec_t payload = ns(CanFrame_payload(can_frame));
-            msg->buffer =
+            _msg->buffer =
                 (uint8_t*)payload;  // TODO think about this cast ... caller
                                     // should not modify ... restrict?
-            msg->len = flatbuffers_uint8_vec_len(payload);
+            _msg->len = flatbuffers_uint8_vec_len(payload);
             /* ... but don't forget to save the vector index either. */
             _nc->vector_idx = _vi + 1;
-            return msg->len;
+            return _msg->len;
         }
 
         /* Next msg/vector? */

dse/ncodec/libs/automotive-bus/tests/CMakeLists.txt

@@ -29,7 +29,7 @@ add_compile_options(${C_CXX_WARNING_FLAGS})
 # External Project - Automotive Bus Schema
 # -------------------------------------------
 FetchContent_Declare(automotive-bus-schema
-    URL https://github.com/boschglobal/automotive-bus-schema/releases/download/v1.0.2/automotive-bus-schema.tar.gz
+    URL https://github.com/boschglobal/automotive-bus-schema/releases/download/v1.0.3/automotive-bus-schema.tar.gz
 )
 FetchContent_MakeAvailable(automotive-bus-schema)
 set(SCHEMAS_SOURCE_DIR ${automotive-bus-schema_SOURCE_DIR}/flatbuffers/c)