{
uint32_t bit_size = sig->get_bit_size();
uint32_t bit_position = sig->get_bit_position();
+ float factor_v = factor ? sig->get_factor() : 1;
+ float offset_v = offset ? sig->get_offset() : 0;
+
int new_start_byte = 0;
int new_end_byte = 0;
uint8_t new_start_bit = 0;
uint8_t new_end_bit = 0;
converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit, new_end_bit);
-
- int len_signal_bytes_tmp = new_end_byte - new_start_byte + 1;
-
- uint8_t len_signal_bytes = 0;
- if(len_signal_bytes_tmp > 255)
- {
- AFB_ERROR("Error signal %s too long", sig->get_name().c_str());
- }
- else
- {
- len_signal_bytes = (uint8_t) len_signal_bytes_tmp;
- }
-/*
- if(new_start_bit > 255)
- {
- AFB_ERROR("Error signal %s too long", sig->get_name().c_str());
- }
-*/
- uint8_t new_bit_size = 0;
- if(bit_size > 255)
- {
- AFB_ERROR("Error signal %s to long bit size", sig->get_name().c_str());
- }
- else
- {
- new_bit_size = (uint8_t) bit_size;
- }
-
- uint8_t data_signal[len_signal_bytes] = {0};
- float factor_v = 1;
- if(factor)
- {
- factor_v = sig->get_factor();
- }
-
- float offset_v = 0;
- if(factor)
- {
- offset_v = sig->get_offset();
- }
+ std::vector<uint8_t> data_signal(new_end_byte - new_start_byte + 1);
if(filter)
{
- uint8_t tmp = 0;
- int j=0;
- for(int i=0;i<new_bit_size;i++)
- {
- int mask = 1 << ((i%8)+new_start_bit);
-
- uint8_t mask_v = 0;
- if(mask > 255)
- {
- AFB_ERROR("Error mask too large");
- }
- else
- {
- mask_v = (uint8_t) mask;
- }
- tmp = tmp|mask_v;
+ for (auto& elt: data_signal)
+ elt = 0xFF;
+ uint8_t mask_first_v = static_cast<uint8_t>(0xFF << new_start_bit);
+ uint8_t mask_last_v = static_cast<uint8_t>(0xFF >> (7 - new_end_bit));
- if(i%8 == 7)
- {
- data_signal[j] = tmp;
- tmp = 0;
- j++;
- }
+ if(new_start_byte == new_end_byte)
+ {
+ data_signal[0] = mask_first_v & mask_last_v;
+ }
+ else
+ {
+ data_signal[0] = mask_first_v;
+ data_signal[new_end_byte - new_start_byte] = mask_last_v;
}
- data_signal[j]=tmp;
}
else
{
- bitfield_encode_float( sig->get_last_value(),
- new_start_bit,
- new_bit_size,
- factor_v,
- offset_v,
- data_signal,
- len_signal_bytes);
+ bitfield_encode_float(sig->get_last_value(),
+ new_start_bit,
+ bit_size,
+ factor_v,
+ offset_v,
+ data_signal.data(),
+ bit_size);
}
for(size_t i = new_start_byte; i <= new_end_byte ; i++)
- {
data[i] = data[i] | data_signal[i-new_start_byte];
- }
}
/**
*/
message_t* encoder_t::build_frame(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message, bool factor, bool offset)
{
- signal->set_last_value((float)value);
- std::vector<uint8_t> data;
- for(int i = 0; i<message->get_length();i++)
- {
- data.push_back(0);
- }
+ signal->set_last_value(static_cast<float>(value));
+ std::vector<uint8_t> data(message->get_length(), 0);
for(const auto& sig: signal->get_message()->get_signals())
- {
encode_data(sig, data, false, factor, offset);
- }
+
message->set_data(data);
return message;
}
message_t* encoder_t::build_one_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
{
signal->set_last_value((float)value);
- uint8_t data_tab[message->get_length()];
std::vector<uint8_t> data;
+ data.reserve(message->get_length());
for(const auto& sig: signal->get_message()->get_signals())
{
float last_value = sig->get_last_value();
bitfield_encode_float(last_value,
- sig->get_bit_position(),
- sig->get_bit_size(),
+ static_cast<uint8_t>(sig->get_bit_position()),
+ static_cast<uint8_t>(sig->get_bit_size()),
sig->get_factor(),
sig->get_offset(),
- data_tab,
- (uint8_t)message->get_length());
- }
-
- for (size_t i = 0; i < (uint8_t) message->get_length(); i++)
- {
- data.push_back(data_tab[i]);
+ data.data(),
+ static_cast<uint8_t>(message->get_length()));
}
message->set_data(data);
message_t* encoder_t::build_multi_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
{
signal->set_last_value((float)value);
- std::vector<uint8_t> data;
-
+ int nb_of_frame;
uint32_t msgs_len = signal->get_message()->get_length(); // multi frame - number of bytes
- int number_of_frame = (int) msgs_len / 8;
+ int max_dlen = signal->get_message()->get_flags() & CAN_PROTOCOL_WITH_FD_FRAME ? CANFD_MAX_DLEN : CAN_MAX_DLEN;
- uint8_t data_tab[number_of_frame][8] = {0};
+ nb_of_frame = (int) msgs_len / max_dlen;
+ std::vector<uint8_t> data_tab;
+ data_tab.reserve(nb_of_frame * max_dlen);
for(const auto& sig: signal->get_message()->get_signals())
- {
-
- int frame_position = (int) sig->get_bit_position() / 64;
- float last_value = sig->get_last_value();
- uint8_t bit_position = sig->get_bit_position() - ((uint8_t)(64 * frame_position));
-
- bitfield_encode_float(last_value,
- bit_position,
- sig->get_bit_size(),
+ // TODO: find a way to handle huge signal
+ bitfield_encode_float(sig->get_last_value(),
+ sig->get_bit_position() % 64,
+ (uint8_t) sig->get_bit_size(),
sig->get_factor(),
sig->get_offset(),
- data_tab[frame_position],
- 8);
- }
+ data_tab.data() + (sig->get_bit_position() / 64),
+ (nb_of_frame * max_dlen) - (sig->get_bit_position() / 64));
- for (size_t i = 0; i < number_of_frame; i++)
- {
- for(size_t j = 0; j < 8 ; j++)
- {
- data.push_back(data_tab[i][j]);
- }
- }
-
- message->set_data(data);
+ message->set_data(data_tab);
return message;
}
Code Review / apps / agl-service-can-low-level.git / blobdiff