CAN FD implementation

[apps/agl-service-can-low-level.git] / low-can-binding / can / can-message.cpp

diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp
index 1b27d0f..9ec3566 100644 (file)
--- a/low-can-binding/can/can-message.cpp
+++ b/low-can-binding/can/can-message.cpp
@@ -266,124 +266,3 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame,
 
        return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
 }
-
-/// @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 = 0, length = 0, flags = 0;
-       uint32_t id;
-       can_message_format_t format;
-       bool rtr_flag;
-       std::vector<uint8_t> data;
-
-       if(nbytes <= CAN_MTU)
-       {
-                       AFB_DEBUG("Got a legacy CAN frame");
-                       maxdlen = CAN_MAX_DLEN;
-       }
-       else
-       {
-                       AFB_ERROR("unsupported CAN frame");
-       }
-
-       if (frame.can_id & CAN_ERR_FLAG)
-       {
-               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;
-               id = frame.can_id & CAN_SFF_MASK;
-       }
-
-       /* Overwrite length_ if RTR flags is detected.
-        * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
-       if (frame.can_id & CAN_RTR_FLAG)
-       {
-               rtr_flag = true;
-               if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
-               {
-                       if(rtr_flag)
-                               length = frame.can_dlc& 0xF;
-                       else
-                       {
-                               length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
-                       }
-               }
-       }
-       else
-       {
-               length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
-
-               if (data.capacity() < maxdlen)
-                       data.reserve(maxdlen);
-                               int i;
-
-                       data.clear();
-                       /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
-                       for(i=0;i<maxdlen;i++)
-                       {
-                               data.push_back(frame.data[i]);
-                       };
-
-//             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, timestamp);
-}
-
-/// @brief Take all initialized class members and build a
-/// 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;
-
-       if(is_correct_to_send())
-       {
-               frame.can_id = get_id();
-               frame.len = get_length();
-               ::memcpy(frame.data, get_data(), length_);
-       }
-       else
-               AFB_ERROR("can_message_t not correctly initialized to be sent");
-
-       return frame;
-}
-
-/// @brief Take all initialized class members and build a
-/// 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;
-
-       if(is_correct_to_send())
-       {
-               frame.can_id = get_id();
-               frame.can_dlc = get_length();
-               ::memcpy(frame.data, get_data(), length_);
-       }
-       else
-               AFB_ERROR("can_message_t not correctly initialized to be sent");
-
-       return frame;
-}