* 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()
- : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}
+ : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}
{}
-/**
-* @brief Retrieve id_ member value.
-*
-* @return uint32_t id_ class member
-*/
+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
+///
uint32_t can_message_t::get_id() const
{
return id_;
}
-/**
-* @brief Retrieve RTR flag member.
-*
-* @return bool 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 CanMessageFormat format_ class member
-*/
-int can_message_t::get_format() const
+///
+/// @brief Retrieve format_ member value.
+///
+/// @return format_ class member
+///
+can_message_format_t can_message_t::get_format() const
{
- if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
- return CanMessageFormat::ERROR;
+ if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
+ return can_message_format_t::ERROR;
return format_;
}
-/**
-* @brief Retrieve format_ member value.
-*
-* @return CanMessageFormat format_ 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 uint8_t data_ 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 uint8_t length_ class member
-*/
+///
+/// @brief Retrieve length_ member value.
+///
+/// @return length_ class member
+///
uint8_t can_message_t::get_length() const
{
return length_;
}
-void can_message_t::set_max_data_length(size_t nbytes)
-{
- maxdlen_ = 0;
-
- switch(nbytes)
- {
- case CANFD_MTU:
- DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
- maxdlen_ = CANFD_MAX_DLEN;
- break;
- case CAN_MTU:
- DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
- maxdlen_ = CAN_MAX_DLEN;
- break;
- default:
- ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
- break;
- }
-}
-
-/**
-* @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_ != CanMessageFormat::ERROR)
+ if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::ERROR)
{
int i;
for(i=0;i<CAN_MESSAGE_SIZE;i++)
return false;
}
-/**
-* @brief Set id_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param uint32_t id_ class member
-*/
-void can_message_t::set_id_and_format(const uint32_t new_id)
+///
+/// @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)
{
- set_format(new_id);
- switch(format_)
- {
- case CanMessageFormat::STANDARD:
- id_ = new_id & CAN_SFF_MASK;
- break;
- case CanMessageFormat::EXTENDED:
- id_ = new_id & CAN_EFF_MASK;
- break;
- case CanMessageFormat::ERROR:
- id_ = new_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;
- }
-}
-
-/**
-* @brief Set format_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param CanMessageFormat format_ class member
-*/
-void can_message_t::set_format(const CanMessageFormat new_format)
-{
- if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED || new_format == CanMessageFormat::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");
}
-/**
-* @brief Set format_ member value. Deducing from the can_id
-* of a canfd_frame.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param uint32_t can_id integer from a canfd_frame
-*/
-void can_message_t::set_format(const uint32_t can_id)
+///
+/// @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)
{
- if (can_id & CAN_ERR_FLAG)
- format_ = CanMessageFormat::ERROR;
- else if (can_id & CAN_EFF_FLAG)
- format_ = CanMessageFormat::EXTENDED;
- else
- format_ = CanMessageFormat::STANDARD;
-}
+ uint8_t maxdlen, length, flags = (uint8_t)NULL;
+ uint32_t id;
+ can_message_format_t format;
+ bool rtr_flag;
+ std::vector<uint8_t> data;
-/**
-* @brief Set format_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param CanMessageFormat format_ class member
-*/
-void can_message_t::set_flags(const uint8_t flags)
-{
- flags_ = flags & 0xF;
-}
+ switch(nbytes)
+ {
+ case CANFD_MTU:
+ DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
+ maxdlen = CANFD_MAX_DLEN;
+ break;
+ case CAN_MTU:
+ DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
+ maxdlen = CAN_MAX_DLEN;
+ break;
+ default:
+ ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
+ break;
+ }
-/**
-* @brief Set length_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param uint8_t length_ array with a max size of 8 elements.
-*/
-void can_message_t::set_length(const uint8_t new_length)
-{
- if(rtr_flag_)
- length_ = new_length & 0xF;
+ if (frame.can_id & CAN_ERR_FLAG)
+ format = can_message_format_t::ERROR;
+ else if (frame.can_id & CAN_EFF_FLAG)
+ format = can_message_format_t::EXTENDED;
else
+ format = can_message_format_t::STANDARD;
+
+ switch(format)
{
- length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
+ case can_message_format_t::STANDARD:
+ id = frame.can_id & CAN_SFF_MASK;
+ break;
+ case can_message_format_t::EXTENDED:
+ id = frame.can_id & CAN_EFF_MASK;
+ break;
+ 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;
}
-}
-/**
-* @brief Set data_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param uint8_t data_ array with a max size of 8 elements.
-*/
-void can_message_t::set_data(const __u8* new_data)
-{
- 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(new_data[i]);
- }
-}
-
-/**
-* @brief Take a canfd_frame struct to initialize class members
-*
-* This is the preferred way to initialize class members.
-*
-* @param canfd_frame struct read from can bus device.
-*/
-void can_message_t::convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args)
-{
- // May be it's overkill to assign member of the pair... May be it will change...
- struct canfd_frame frame = args.first;
- size_t nbytes = args.second;
- set_max_data_length(nbytes);
- set_length(frame.len);
- set_id_and_format(frame.can_id);
-
- /* 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)
- set_length(frame.len);
- return;
+ {
+ 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;
- /* Flags field only present for CAN FD frames*/
- if(maxdlen_ == CANFD_MAX_DLEN)
- set_flags(frame.flags);
+ if (data.capacity() < maxdlen)
+ data.reserve(maxdlen);
+ int i;
- if ( data_.capacity() < maxdlen_)
- data_.reserve(maxdlen_);
- set_data(frame.data);
+ 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]);
+ 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;
}
else
ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
-
+
return frame;
}
-
Code Review / apps / agl-service-can-low-level.git / blobdiff