#include <cstring>
-#include "../low-can-binding.hpp"
+#include "../binding/low-can-hat.hpp"
///
/// @brief Class constructor
/// 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}
{}
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}
{}
///
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 data_.data();
}
+///
+/// @brief Retrieve data_ member whole vector
+///
+/// @return the vector as is
+///
+const std::vector<uint8_t> can_message_t::get_data_vector() const
+{
+ return data_;
+}
+
///
/// @brief Retrieve length_ member value.
///
return length_;
}
+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
///
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++)
///
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__);
///
/// @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;
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)
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)
+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 (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)
// 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);
}
///