Add feature to build messages and fix some functions

[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 b012bbe..945c0ba 100644 (file)
--- a/low-can-binding/can/message/can-message.cpp
+++ b/low-can-binding/can/message/can-message.cpp
@@ -28,22 +28,20 @@
 ///
 can_message_t::can_message_t()
        : message_t(),
-        maxdlen_{0},
         id_{0},
         rtr_flag_{false},
         flags_{0}
 {}
 
-can_message_t::can_message_t(uint8_t maxdlen,
+can_message_t::can_message_t(uint32_t maxdlen,
        uint32_t id,
-       uint8_t length,
+       uint32_t length,
        message_format_t format,
        bool rtr_flag,
-       uint8_t flags,
+       uint32_t flags,
        std::vector<uint8_t>& data,
        uint64_t timestamp)
-       : message_t(length, format, data, timestamp),
-       maxdlen_{maxdlen},
+       : message_t(maxdlen, length, format, data, timestamp),
        id_{id},
        rtr_flag_{rtr_flag},
        flags_{flags}
@@ -86,7 +84,8 @@ bool can_message_t::is_correct_to_send()
 /// @return A can_message_t object fully initialized with canfd_frame values.
 std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
 {
-       uint8_t maxdlen = 0, length = 0, flags = 0;
+       uint32_t maxdlen = 0, length = 0;
+       uint8_t flags = 0;
        uint32_t id;
        message_format_t format;
        bool rtr_flag;
@@ -164,6 +163,47 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca
        return std::make_shared<can_message_t>(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 = (uint8_t) 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 = (uint8_t) get_length();
+               ::memcpy(frame.data, get_data(), length_);
+       }
+       else
+               AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+       return frame;
+}
 
 bool can_message_t::is_set()
 {
@@ -192,3 +232,7 @@ 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_;
+}
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