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,
uint32_t id,
uint32_t length,
- message_format_t format,
bool rtr_flag,
uint32_t flags,
std::vector<uint8_t>& data,
uint64_t timestamp)
- : message_t(maxdlen, length, format, data, timestamp),
+ : message_t(maxdlen, length, flags, data, timestamp),
id_{id},
- rtr_flag_{rtr_flag},
- flags_{flags}
+ rtr_flag_{rtr_flag}
{}
///
}
+void can_message_t::set_id(const canid_t id)
+{
+ id_ = id;
+}
+
/// @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.
bool can_message_t::is_correct_to_send()
{
- if (id_ != 0 && length_ != 0 && format_ != message_format_t::INVALID)
+ if (id_ != 0 && length_ != 0 && !(flags_&INVALID_FLAG))
{
int i;
- for(i=0;i<CAN_MESSAGE_SIZE;i++)
+ for(i=0;i<length_;i++)
if(data_[i] != 0)
return true;
}
std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
{
uint32_t maxdlen = 0, length = 0;
- uint8_t flags = 0;
+ uint32_t flags = 0;
uint32_t id;
- message_format_t format;
bool rtr_flag;
std::vector<uint8_t> data;
if (frame.can_id & CAN_ERR_FLAG)
{
- format = message_format_t::INVALID;
+ flags = flags|INVALID_FLAG;
id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
}
else if (frame.can_id & CAN_EFF_FLAG)
{
- format = message_format_t::EXTENDED;
id = frame.can_id & CAN_EFF_MASK;
}
else
{
- format = message_format_t::STANDARD;
id = frame.can_id & CAN_SFF_MASK;
}
if(rtr_flag)
length = frame.len& 0xF;
else
- {
length = (frame.len > maxdlen) ? maxdlen : frame.len;
- }
}
}
else
length = (frame.len > maxdlen) ? maxdlen : frame.len;
/* Flags field only present for CAN FD frames*/
- if(maxdlen == CANFD_MAX_DLEN)
- flags = frame.flags & 0xF;
+ /*if(maxdlen == CANFD_MAX_DLEN)
+ flags = frame.flags & 0xF;*/
if (data.capacity() < maxdlen)
data.reserve(maxdlen);
};
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]);
+ id, (uint32_t)flags, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
}
- return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp));
+ return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, rtr_flag, flags, data, timestamp));
}
/// @brief Take all initialized class members and build a
::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
+/// 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.
::memcpy(frame.data, get_data(), length_);
}
else
+ {
AFB_ERROR("can_message_t not correctly initialized to be sent");
+ }
return frame;
}
std::string can_message_t::get_debug_message()
{
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]);
- }
+ 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;
+ return ret;
}
-struct bcm_msg can_message_t::get_bcm_msg()
+struct bcm_msg& can_message_t::get_bcm_msg()
{
return bcm_msg_;
}
{
bcm_msg_ = bcm_msg;
}
-
-uint32_t can_message_t::get_flags()
-{
- return flags_;
-}
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff