/// Constructor about can_message_t class.
///
can_message_t::can_message_t()
- : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}
+ : maxdlen_{0},
+ id_{0},
+ length_{0},
+ format_{can_message_format_t::INVALID},
+ rtr_flag_{false},
+ flags_{0},
+ timestamp_{0},
+ sub_id_{-1}
{}
can_message_t::can_message_t(uint8_t maxdlen,
can_message_format_t format,
bool rtr_flag,
uint8_t flags,
- std::vector<uint8_t> data)
+ std::vector<uint8_t>& data,
+ uint64_t timestamp)
: maxdlen_{maxdlen},
id_{id},
length_{length},
format_{format},
rtr_flag_{rtr_flag},
flags_{flags},
- data_{data}
+ data_{data},
+ timestamp_{timestamp},
+ sub_id_{-1}
{}
///
return id_;
}
+int can_message_t::get_sub_id() const
+{
+ return sub_id_;
+}
+
///
/// @brief Retrieve RTR flag member.
///
///
/// @brief Retrieve format_ member value.
///
-/// @return format_ class member
+/// @return format_ class member. Default to INVALID.
///
can_message_format_t can_message_t::get_format() const
{
if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
- return can_message_format_t::ERROR;
+ return can_message_format_t::INVALID;
return format_;
}
return length_;
}
-///
+void can_message_t::set_sub_id(int sub_id)
+{
+ sub_id_ = sub_id;
+}
+
+uint64_t can_message_t::get_timestamp() const
+{
+ return timestamp_;
+}
+
+void can_message_t::set_timestamp(uint64_t timestamp)
+{
+ timestamp_ = timestamp;
+}
+
/// @brief Control whether the object is correctly initialized
/// to be sent over the CAN bus
///
-/// @return true if object correctly initialized and false if not.
-///
+/// @return True if object correctly initialized and false if not.
bool can_message_t::is_correct_to_send()
{
- if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::ERROR)
+ if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID)
{
int i;
for(i=0;i<CAN_MESSAGE_SIZE;i++)
return false;
}
-///
/// @brief Set format_ member value.
///
/// Preferred way to initialize these members by using
/// convert_from_canfd_frame method.
///
/// @param[in] new_format - class member
-///
void can_message_t::set_format(const can_message_format_t new_format)
{
- if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR)
+ if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID)
format_ = new_format;
else
- ERROR(binder_interface, "%s: Can set format, wrong format chosen", __FUNCTION__);
+ ERROR("Can set format, wrong format chosen");
}
/// @brief Take a canfd_frame struct to initialize class members
/// @param[in] nbytes - bytes read from socket read operation.
///
/// @return A can_message_t object fully initialized with canfd_frame values.
-///
-can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes)
+can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
{
uint8_t maxdlen, length, flags = (uint8_t)NULL;
uint32_t id;
switch(nbytes)
{
case CANFD_MTU:
- DEBUG(binder_interface, "%s: Got an CAN FD frame", __FUNCTION__);
+ DEBUG("Got an CAN FD frame");
maxdlen = CANFD_MAX_DLEN;
break;
case CAN_MTU:
- DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__);
+ DEBUG("Got a legacy CAN frame");
maxdlen = CAN_MAX_DLEN;
break;
default:
- ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__);
+ ERROR("unsupported CAN frame");
break;
}
if (frame.can_id & CAN_ERR_FLAG)
{
- format = can_message_format_t::ERROR;
+ format = can_message_format_t::INVALID;
id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
}
else if (frame.can_id & CAN_EFF_FLAG)
data.push_back(frame.data[i]);
};
- DEBUG(binder_interface, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__,
+ DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
}
- return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data);
+ return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
}
-can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes)
+/// @brief Take a can_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - can_frame to convert coming from a read of CAN socket
+/// @param[in] nbytes - bytes read from socket read operation.
+///
+/// @return A can_message_t object fully initialized with can_frame values.
+can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
{
uint8_t maxdlen, length, flags = (uint8_t)NULL;
uint32_t id;
if(nbytes <= CAN_MTU)
{
- DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__);
+ DEBUG("Got a legacy CAN frame");
maxdlen = CAN_MAX_DLEN;
}
else
{
- ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__);
+ ERROR("unsupported CAN frame");
}
if (frame.can_id & CAN_ERR_FLAG)
{
- format = can_message_format_t::ERROR;
+ format = can_message_format_t::INVALID;
id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
}
else if (frame.can_id & CAN_EFF_FLAG)
data.push_back(frame.data[i]);
};
-// DEBUG(binder_interface, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__,
+// DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
// id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
}
- return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data);
+ return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
}
-///
/// @brief Take all initialized class's members and build an
/// canfd_frame struct that can be use to send a CAN message over
/// the bus.
///
/// @return canfd_frame struct built from class members.
-///
struct canfd_frame can_message_t::convert_to_canfd_frame()
{
canfd_frame frame;
::memcpy(frame.data, get_data(), length_);
}
else
- ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__);
+ ERROR("can_message_t not correctly initialized to be sent");
return frame;
}
+/// @brief Take all initialized class's members and build an
+/// can_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return can_frame struct built from class members.
struct can_frame can_message_t::convert_to_can_frame()
{
can_frame frame;
::memcpy(frame.data, get_data(), length_);
}
else
- ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__);
+ ERROR("can_message_t not correctly initialized to be sent");
return frame;
}
Code Review / apps / agl-service-can-low-level.git / blobdiff