#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 class constructor.
///
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_;
}
-///
-/// @brief Retrieve RTR flag member.
-///
-/// @return rtr_flags_ class member
-///
-bool can_message_t::get_rtr_flag_() const
+int can_message_t::get_sub_id() const
{
- return rtr_flag_;
+ return sub_id_;
}
///
-/// @brief Retrieve format_ member value.
-///
-/// @return format_ class member
-///
-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 format_;
-}
-
-///
-/// @brief Retrieve flags_ member value.
+/// @brief Retrieve data_ member value.
///
-/// @return flags_ class member
+/// @return pointer to the first element
+/// of class member data_
///
-uint8_t can_message_t::get_flags() const
+const uint8_t* can_message_t::get_data() const
{
- return flags_;
+ return data_.data();
}
///
-/// @brief Retrieve data_ member value.
+/// @brief Retrieve data_ member whole vector
///
-/// @return pointer to the first element
-/// of class member data_
+/// @return the vector as is
///
-const uint8_t* can_message_t::get_data() const
+const std::vector<uint8_t> can_message_t::get_data_vector() const
{
- return data_.data();
+ return data_;
}
///
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_;
+}
+
/// @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)
- format_ = new_format;
- else
- ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
-}
-
-///
/// @brief Take a canfd_frame struct to initialize class members
///
/// This is the preferred way 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_canfd_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;
+ uint8_t maxdlen = 0, length = 0, flags = 0;
uint32_t id;
can_message_format_t format;
bool rtr_flag;
switch(nbytes)
{
case CANFD_MTU:
- DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
+ AFB_DEBUG("Got an CAN FD frame");
maxdlen = CANFD_MAX_DLEN;
break;
case CAN_MTU:
- DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
+ AFB_DEBUG("Got a legacy CAN frame");
maxdlen = CAN_MAX_DLEN;
break;
default:
- ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
+ AFB_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)
+ {
format = can_message_format_t::EXTENDED;
+ id = frame.can_id & CAN_EFF_MASK;
+ }
else
- format = can_message_format_t::STANDARD;
-
- switch(format)
{
- case can_message_format_t::STANDARD:
- id = frame.can_id & CAN_SFF_MASK;
- break;
- case can_message_format_t::EXTENDED:
- id = frame.can_id & CAN_EFF_MASK;
- break;
- case can_message_format_t::ERROR:
- id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- break;
- default:
- ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
- break;
+ format = can_message_format_t::STANDARD;
+ id = frame.can_id & CAN_SFF_MASK;
}
/* Overwrite length_ if RTR flags is detected.
data.push_back(frame.data[i]);
};
- DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+ AFB_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);
-}
-
-///
-/// @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.
-///
-canfd_frame can_message_t::convert_to_canfd_frame()
-{
- canfd_frame frame;
-
- if(is_correct_to_send())
- {
- frame.can_id = get_id();
- frame.len = get_length();
- ::memcpy(frame.data, get_data(), length_);
- }
- else
- ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
-
- return frame;
+ return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
}
Code Review / apps / agl-service-can-low-level.git / blobdiff