Change function get_bcm_msg to return a reference.

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

diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp
index 90bade5..8a04992 100644 (file)
--- a/low-can-binding/can/message/can-message.cpp
+++ b/low-can-binding/can/message/can-message.cpp
@@ -29,8 +29,7 @@
 can_message_t::can_message_t()
        : message_t(),
         id_{0},
-        rtr_flag_{false},
-        flags_{0}
+        rtr_flag_{false}
 {}
 
 can_message_t::can_message_t(uint32_t maxdlen,
@@ -41,10 +40,9 @@ can_message_t::can_message_t(uint32_t maxdlen,
        uint32_t flags,
        std::vector<uint8_t>& data,
        uint64_t timestamp)
-       : message_t(maxdlen, length, format, data, timestamp),
+       : message_t(maxdlen, length, format, data, timestamp, flags),
        id_{id},
-       rtr_flag_{rtr_flag},
-       flags_{flags}
+       rtr_flag_{rtr_flag}
 {}
 
 ///
@@ -67,7 +65,7 @@ bool can_message_t::is_correct_to_send()
        if (id_ != 0 && length_ != 0 && format_ != message_format_t::INVALID)
        {
                int i;
-               for(i=0;i<CAN_MESSAGE_SIZE;i++)
+               for(i=0;i<length_;i++)
                        if(data_[i] != 0)
                                return true;
        }
@@ -184,6 +182,68 @@ struct canfd_frame can_message_t::convert_to_canfd_frame()
        return frame;
 }
 
+/// @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 std::vector<canfd_frame> can_message_t::convert_to_canfd_frame_vector()
+{
+       std::vector<canfd_frame> ret;
+       if(is_correct_to_send())
+       {
+               if(flags_ & CAN_FD_FRAME)
+               {
+                       int i=0;
+                       do
+                       {
+                               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
+                       {
+                               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));
+               }
+       }
+       else
+               AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+       return ret;
+}
+
 /// @brief Take all initialized class members and build a
 /// can_frame struct that can be use to send a CAN message over
 /// the bus.
@@ -222,7 +282,7 @@ std::string can_message_t::get_debug_message()
        return ret;
 }
 
-struct bcm_msg can_message_t::get_bcm_msg()
+struct bcm_msg& can_message_t::get_bcm_msg()
 {
        return bcm_msg_;
 }
@@ -231,8 +291,3 @@ void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
 {
        bcm_msg_ = bcm_msg;
 }
-
-uint32_t can_message_t::get_flags()
-{
-       return flags_;
-}
\ No newline at end of file