* limitations under the License.
*/
-#include "can/can-message.hpp"
+#include "can-message.hpp"
#include <cstring>
-#include "low-can-binding.hpp"
+#include "../low-can-binding.hpp"
-/********************************************************************************
-*
-* CanMessage method implementation
-*
-*********************************************************************************/
/**
* @brief Class constructor
*
* Constructor about can_message_t class.
*/
can_message_t::can_message_t()
- : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{can_message_format::ERROR}, maxdlen_{0}
+ : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}
+{}
+
+can_message_t::can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag, uint8_t flags, std::vector<uint8_t> data)
+ : maxdlen_{maxdlen}, id_{id}, length_{length}, format_{format}, rtr_flag_{rtr_flag}, flags_{flags}, data_{data}
{}
/**
*
* @return format_ class member
*/
-int can_message_t::get_format() const
+can_message_format_t can_message_t::get_format() const
{
- if (format_ != can_message_format::STANDARD || format_ != can_message_format::EXTENDED)
- return can_message_format::ERROR;
+ if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
+ return can_message_format_t::ERROR;
return format_;
}
/**
* @brief Retrieve flags_ member value.
*
-* @return flags_ class member
+* @return flags_ class member
*/
uint8_t can_message_t::get_flags() const
{
/**
* @brief Retrieve data_ member value.
*
-* @return pointer to the first element
+* @return pointer to the first element
* of class member data_
*/
const uint8_t* can_message_t::get_data() const
*/
bool can_message_t::is_correct_to_send()
{
- if (id_ != 0 && length_ != 0 && format_ != can_message_format::ERROR)
+ if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::ERROR)
{
int i;
for(i=0;i<CAN_MESSAGE_SIZE;i++)
/**
* @brief Set format_ member value.
*
-* Preferred way to initialize these members by using
+* Preferred way to initialize these members by using
* convert_from_canfd_frame method.
*
* @param[in] new_format - class member
*/
-void can_message_t::set_format(const can_message_format new_format)
+void can_message_t::set_format(const can_message_format_t new_format)
{
- if(new_format == can_message_format::STANDARD || new_format == can_message_format::EXTENDED || new_format == can_message_format::ERROR)
+ if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR)
format_ = new_format;
else
ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
*
* This is the preferred way to initialize class members.
*
-* @param[in] args - struct read from can bus device.
+* @param[in] frame - canfd_frame to convert coming from a read of CAN socket
+* @param[in] nbyte - bytes read from socket read operation.
+*
+* @return A can_message_t object fully initialized with canfd_frame values.
*/
-can_message_t can_message_t::convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
+can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
{
- switch(nbytes)
+ uint8_t maxdlen, length, flags = (uint8_t)NULL;
+ uint32_t id;
+ can_message_format_t format;
+ bool rtr_flag;
+ std::vector<uint8_t> data;
+
+ switch(nbytes)
{
case CANFD_MTU:
DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
- maxdlen_ = CANFD_MAX_DLEN;
+ maxdlen = CANFD_MAX_DLEN;
break;
case CAN_MTU:
DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
- maxdlen_ = CAN_MAX_DLEN;
+ maxdlen = CAN_MAX_DLEN;
break;
default:
ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
break;
}
- if(rtr_flag_)
- length_ = frame.len& 0xF;
- else
- {
- length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len;
- }
-
if (frame.can_id & CAN_ERR_FLAG)
- format_ = can_message_format::ERROR;
+ format = can_message_format_t::ERROR;
else if (frame.can_id & CAN_EFF_FLAG)
- format_ = can_message_format::EXTENDED;
+ format = can_message_format_t::EXTENDED;
else
- format_ = can_message_format::STANDARD;
+ format = can_message_format_t::STANDARD;
- switch(format_)
+ switch(format)
{
- case can_message_format::STANDARD:
- id_ = frame.can_id & CAN_SFF_MASK;
+ case can_message_format_t::STANDARD:
+ id = frame.can_id & CAN_SFF_MASK;
break;
- case can_message_format::EXTENDED:
- id_ = frame.can_id & CAN_EFF_MASK;
+ case can_message_format_t::EXTENDED:
+ id = frame.can_id & CAN_EFF_MASK;
break;
- case can_message_format::ERROR:
- id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ case can_message_format_t::ERROR:
+ id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
break;
default:
ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
break;
}
-
- /* Overwrite lenght_ if RTR flags is detected.
+
+ /* 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;
+ rtr_flag = true;
if(frame.len && frame.len <= CAN_MAX_DLC)
{
- if(rtr_flag_)
- length_ = frame.len& 0xF;
- else
- {
- length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len;
- }
+ if(rtr_flag)
+ length = frame.len& 0xF;
+ else
+ {
+ length = (frame.len > maxdlen) ? maxdlen : frame.len;
+ }
}
}
else
{
- /* Flags field only present for CAN FD frames*/
- if(maxdlen_ == CANFD_MAX_DLEN)
- flags_ = frame.flags & 0xF;
-
- if (data_.capacity() < maxdlen_)
- data_.reserve(maxdlen_);
- int i;
+ length = (frame.len > maxdlen) ? maxdlen : frame.len;
- 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]);
- };
-
- DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", id_, format_, length_,
- data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
+ /* Flags field only present for CAN FD frames*/
+ if(maxdlen == CANFD_MAX_DLEN)
+ flags = frame.flags & 0xF;
+
+ 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]);
+ };
+
+ DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+ id, 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);
}
/**
-* @brief Take all initialized class's members and build an
+* @brief Take all initialized class's members and build an
* canfd_frame struct that can be use to send a CAN message over
* the bus.
*
}
else
ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
-
- return frame;
-}
-
-/********************************************************************************
-*
-* can_message_definition_t method implementation
-*
-*********************************************************************************/
-
-can_message_definition_t::can_message_definition_t()
- : last_value_(CAN_MESSAGE_SIZE)
-{}
-uint32_t get_id() const
-{
- return id_;
-}
+ return frame;
}
Code Review / apps / low-level-can-service.git / blobdiff