}
else if (frame.can_id & CAN_EFF_FLAG)
{
- flags = flags|EXTENDED_ID;
id = frame.can_id & CAN_EFF_MASK;
}
else
{
- flags = flags|STANDARD_ID;
id = frame.can_id & CAN_SFF_MASK;
}
if(rtr_flag)
length = frame.len& 0xF;
else
- {
length = (frame.len > maxdlen) ? maxdlen : frame.len;
- }
}
}
else
::memcpy(frame.data, get_data(), length_);
}
else
+ {
AFB_ERROR("can_message_t not correctly initialized to be sent");
+ }
return frame;
}
struct std::vector<canfd_frame> can_message_t::convert_to_canfd_frame_vector()
{
std::vector<canfd_frame> ret;
+ int i = 0;
+
if(is_correct_to_send())
{
- if(flags_ & CAN_FD_FRAME)
+ while (i < length_)
{
- int i=0;
- do
+ canfd_frame frame;
+ frame.can_id = id_;
+ if(flags_ & CAN_FD_FRAME)
{
- canfd_frame frame;
- frame.can_id = id_;
- frame.len = 64;
- std::vector<uint8_t> data = get_data_vector((i*64),(i*64)+63);
- if(data.size()<64)
- {
- ::memset(frame.data,0,sizeof(frame.data));
- ::memcpy(frame.data,data.data(),data.size());
- }
- else
- {
- ::memcpy(frame.data,data.data(),64);
- }
- ret.push_back(frame);
- i++;
- } while (i<(length_ >> 6));
- }
- else
- {
- int i=0;
- do
+ frame.len = (length_ - (i * CANFD_MAX_DLC)) > CANFD_MAX_DLC - 1 ? CANFD_MAX_DLC : (uint8_t)(length_ - (i * CANFD_MAX_DLC));
+ ::memcpy(frame.data, &data_.data()[i*CANFD_MAX_DLC], frame.len);
+ i += CANFD_MAX_DLC;
+ }
+ else
{
- canfd_frame frame;
- frame.can_id = id_;
- frame.len = 8;
- std::vector<uint8_t> data = get_data_vector(i*8,(i*8)+7);
- if(data.size()<8)
- {
- ::memset(frame.data,0,sizeof(frame.data));
- ::memcpy(frame.data,data.data(),data.size());
- }
- else
- {
- ::memset(frame.data,0,sizeof(frame.data));
- ::memcpy(frame.data,data.data(),8);
- }
- ret.push_back(frame);
- i++;
- } while (i<(length_ >> 3));
+ frame.len = (length_ - (i * CAN_MAX_DLC)) > CAN_MAX_DLC - 1 ? CAN_MAX_DLC : (uint8_t)(length_ - (i * CAN_MAX_DLC));
+ ::memcpy(frame.data, &data_.data()[i*CAN_MAX_DLEN], frame.len);
+ i += CAN_MAX_DLC;
+ }
+ ret.push_back(frame);
}
}
else
+ {
AFB_ERROR("can_message_t not correctly initialized to be sent");
+ }
return ret;
}
::memcpy(frame.data, get_data(), length_);
}
else
+ {
AFB_ERROR("can_message_t not correctly initialized to be sent");
+ }
return frame;
}
std::string ret = "";
ret = ret + "Here is the next can message : id " + std::to_string(id_) + " length " + std::to_string(length_) + ", data ";
for (size_t i = 0; i < data_.size(); i++)
- {
ret = ret + std::to_string(data_[i]);
- }
return ret;
}