Handle CANErrorFrame, move decode logic up to read_frame match (#54)

* Added my format script to gitignore

* Experimental handling of CAN Error Frame

* Changes

* Handle Remote frame

* Set CAN Socket to accept errors

* SocketOptions now included

---------

Co-authored-by: Jack Rubacha <[email protected]>

.gitignore

@@ -29,3 +29,6 @@ decode_data.rs
 encode_data.rs
 encode_master_mapping.rs
 format_data.rs
+
+# my dumb script
+./format

src/main.rs

@@ -6,13 +6,13 @@ use std::{
 };
 
 use calypso::{
-    command_data, data::EncodeData, decodable_message::DecodableMessage,
+    command_data, data::DecodeData, data::EncodeData, decodable_message::DecodableMessage,
     encodable_message::EncodableMessage, encode_master_mapping::ENCODABLE_KEY_LIST,
     mqtt::MqttClient, serverdata,
 };
 use clap::Parser;
 use protobuf::Message;
-use socketcan::{CanFrame, CanSocket, EmbeddedFrame, Id, Socket};
+use socketcan::{CanError, CanFrame, CanSocket, EmbeddedFrame, Frame, Id, Socket, SocketOptions};
 
 const ENCODER_MAP_SUB: &str = "Calypso/Bidir/Command/#";
 
@@ -47,7 +47,7 @@ struct CalypsoArgs {
  * Reads the can socket and publishes the data to the given client.
  */
 fn read_can(pub_path: &str, can_interface: &str) -> JoinHandle<u32> {
-    //open can socket channel at name can_interface
+    // Open CAN socket channel at name can_interface
     let mut client = MqttClient::new(pub_path, "calypso-decoder");
     if client.connect().is_err() {
         println!("Unable to connect to Siren, going into reconnection mode.");
@@ -57,6 +57,7 @@ fn read_can(pub_path: &str, can_interface: &str) -> JoinHandle<u32> {
     }
 
     let socket = CanSocket::open(can_interface).expect("Failed to open CAN socket!");
+    socket.set_error_filter_accept_all().expect("Failed to set error mask on CAN socket!");
 
     thread::spawn(move || loop {
         if !client.is_connected() {
@@ -65,31 +66,62 @@ fn read_can(pub_path: &str, can_interface: &str) -> JoinHandle<u32> {
                 println!("[read_can] Reconnected to Siren!");
             }
         }
-
-        let msg = match socket.read_frame() {
-            Ok(CanFrame::Data(msg)) => msg,
-            Ok(CanFrame::Remote(_)) => {
-                println!("Ignoring remote frame");
-                continue;
+        // Read from MQTT socket
+        let decoded_data = match socket.read_frame() {
+            // CanDataFrame
+            Ok(CanFrame::Data(data_frame)) => {
+                let data = data_frame.data();
+                let message = DecodableMessage::new(
+                    match data_frame.id() {
+                        socketcan::Id::Standard(std) => std.as_raw().into(),
+                        socketcan::Id::Extended(ext) => ext.as_raw(),
+                    },
+                    data.to_vec(),
+                );
+                message.decode()
             }
-            Ok(CanFrame::Error(_)) => {
-                println!("Ignoring error frame");
-                continue;
+            // CanRemoteFrame
+            Ok(CanFrame::Remote(remote_frame)) => {
+                // Send frame ID for Remote
+                vec![DecodeData::new(
+                    vec![remote_frame.raw_id() as f32],
+                    "Calypso/Events/RemoteFrame",
+                    "id",
+                )]
             }
+            // CanErrorFrame
+            Ok(CanFrame::Error(error_frame)) => {
+                // Publish enum index of error onto CAN
+                // TODO: Look into string representation with Display
+                // TODO: Ask `const` impl for Display or enum?
+                // Impl from ErrorFrame -> f32
+                let error_index: f32 = match CanError::from(error_frame) {
+                    CanError::TransmitTimeout => 0.0,
+                    CanError::LostArbitration(_) => 1.0,
+                    CanError::ControllerProblem(_) => 2.0,
+                    CanError::ProtocolViolation { .. } => 3.0,
+                    CanError::TransceiverError => 4.0,
+                    CanError::NoAck => 5.0,
+                    CanError::BusOff => 6.0,
+                    CanError::BusError => 7.0,
+                    CanError::Restarted => 8.0,
+                    CanError::DecodingFailure(_) => 9.0,
+                    CanError::Unknown(_) => 10.0,
+                };
+                vec![DecodeData::new(
+                    vec![error_index],
+                    "Calypso/Events/ErrorFrame",
+                    "CanError enum",
+                )]
+            }
+            // Socket failure
             Err(err) => {
-                println!("Failed to read CAN frame: {}", err);
+                println!("CAN Socket failure: {}", err);
                 continue;
             }
         };
-        let data = msg.data();
-        let message = DecodableMessage::new(
-            match msg.id() {
-                socketcan::Id::Standard(std) => std.as_raw().into(),
-                socketcan::Id::Extended(ext) => ext.as_raw(),
-            },
-            data.to_vec(),
-        );
-        let decoded_data = message.decode();
+
+        // Convert decoded CAN to Protobuf and publish over MQTT
         for data in decoded_data.iter() {
             let mut payload = serverdata::ServerData::new();
             payload.unit = data.unit.to_string();