#include "canutil/write.h"
#include "../utils/openxc-utils.hpp"
#include "can-message-definition.hpp"
-#include "../binding/low-can-hat.hpp"
-/// @brief Write a value into a CAN signal in the destination buffer.
+/// @brief Write a value in a CAN signal in the destination buffer.
///
/// @param[in] signal - The CAN signal to write, including the bit position and bit size.
-/// @param[in] value - The encoded integer value to write into the CAN signal.
+/// @param[in] value - The encoded integer value to write in the CAN signal.
/// @param[out] data - The destination buffer.
/// @param[in] length - The length of the destination buffer.
///
-/// @return Returns a can_frame struct initialized and ready to be send.
-const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value)
+/// @return Returns a canfd_frame struct initialized and ready to be send.
+const canfd_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value)
{
- struct can_frame cf;
+ struct canfd_frame cf;
::memset(&cf, 0, sizeof(cf));
cf.can_id = signal->get_message()->get_id();
- cf.can_dlc = CAN_MAX_DLEN;
- bitfield_encode_float((float)value,
- signal->get_bit_position(),
- signal->get_bit_size(),
- signal->get_factor(),
- signal->get_offset(),
- cf.data,
- CAN_MAX_DLEN);
+ cf.len = signal->get_message()->is_fd() ?
+ CANFD_MAX_DLEN : CAN_MAX_DLEN;
+
+ signal->set_last_value((float)value);
+
+ for(const auto& sig: signal->get_message()->get_can_signals())
+ {
+ float last_value = sig->get_last_value();
+ bitfield_encode_float(last_value,
+ sig->get_bit_position(),
+ sig->get_bit_size(),
+ sig->get_factor(),
+ sig->get_offset(),
+ cf.data,
+ cf.len);
+ }
return cf;
}