* 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.
-*/
+///
+/// @brief Class constructor
+///
+/// Constructor about can_message_t class.
+///
can_message_t::can_message_t()
: 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_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}, data_{data}
+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}
{}
-/**
-* @brief Retrieve id_ member value.
-*
-* @return id_ class member
-*/
+///
+/// @brief Retrieve id_ member value.
+///
+/// @return id_ class member
+///
uint32_t can_message_t::get_id() const
{
return id_;
}
-/**
-* @brief Retrieve RTR flag member.
-*
-* @return rtr_flags_ class member
-*/
+///
+/// @brief Retrieve RTR flag member.
+///
+/// @return rtr_flags_ class member
+///
bool can_message_t::get_rtr_flag_() const
{
return rtr_flag_;
}
-/**
-* @brief Retrieve format_ member value.
-*
-* @return format_ class member
-*/
+///
+/// @brief Retrieve format_ member value.
+///
+/// @return format_ class member
+///
can_message_format_t can_message_t::get_format() const
{
if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
return format_;
}
-/**
-* @brief Retrieve flags_ member value.
-*
-* @return flags_ class member
-*/
+///
+/// @brief Retrieve flags_ member value.
+///
+/// @return flags_ class member
+///
uint8_t can_message_t::get_flags() const
{
return flags_;
}
-/**
-* @brief Retrieve data_ member value.
-*
-* @return pointer to the first element
-* of class member data_
-*/
+///
+/// @brief Retrieve data_ member value.
+///
+/// @return pointer to the first element
+/// of class member data_
+///
const uint8_t* can_message_t::get_data() const
{
return data_.data();
}
-/**
-* @brief Retrieve length_ member value.
-*
-* @return length_ class member
-*/
+///
+/// @brief Retrieve length_ member value.
+///
+/// @return length_ class member
+///
uint8_t can_message_t::get_length() const
{
return length_;
}
-/**
-* @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.
-*/
+///
+/// @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_ != can_message_format_t::ERROR)
return false;
}
-/**
-* @brief Set format_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param[in] new_format - class member
-*/
+///
+/// @brief Set format_ member value.
+///
+/// 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_t new_format)
{
if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR)
ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
}
-/**
-* @brief Take a canfd_frame struct to initialize class members
-*
-* This is the preferred way to initialize class members.
-*
-* @param[in] args - struct read from can bus device.
-*/
-can_message_t can_message_t::convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
+///
+/// @brief Take a canfd_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
+/// @param[in] nbytes - 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_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
{
uint8_t maxdlen, length, flags = (uint8_t)NULL;
uint32_t id;
format = can_message_format_t::EXTENDED;
else
format = can_message_format_t::STANDARD;
-
+
switch(format)
{
case can_message_format_t::STANDARD:
else
{
length = (frame.len > maxdlen) ? maxdlen : frame.len;
- }
+ }
}
}
else
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",
+ 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
-* canfd_frame struct that can be use to send a CAN message over
-* the bus.
-*
-* @return canfd_frame struct built from class members.
-*/
+///
+/// @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.
+///
+/// @return canfd_frame struct built from class members.
+///
canfd_frame can_message_t::convert_to_canfd_frame()
{
canfd_frame frame;
return frame;
}
-
-/********************************************************************************
-*
-* can_message_definition_t method implementation
-*
-*********************************************************************************/
-
-can_message_definition_t::can_message_definition_t(can_bus_dev_t& cbd)
- : bus_{cbd}, last_value_(CAN_MESSAGE_SIZE)
-{}
-
-uint32_t can_message_definition_t::get_id() const
-{
- return id_;
-}
Code Review / apps / agl-service-can-low-level.git / blobdiff