*********************************************************************************/
can_message_t::can_message_t()
- : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
+ : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}
{}
uint32_t can_message_t::get_id() const
return id_;
}
+bool can_message_t::get_rtr_flag_() const
+{
+ return rtr_flag_;
+}
+
int can_message_t::get_format() const
{
if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
return format_;
}
+uint8_t can_message_t::get_flags() const
+{
+ return flags_;
+}
+
const uint8_t* can_message_t::get_data() const
{
- return data_;
+ return data_.data();
}
+
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;
+ }
+}
+
bool can_message_t::is_correct_to_send()
{
if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
return false;
}
-void can_message_t::set_id(const uint32_t new_id)
+void can_message_t::set_id_and_format(const uint32_t new_id)
{
+ set_format(new_id);
switch(format_)
{
case CanMessageFormat::STANDARD:
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;
void can_message_t::set_format(const CanMessageFormat new_format)
{
- if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
+ if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED || new_format == CanMessageFormat::ERROR)
format_ = new_format;
else
ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
}
-void can_message_t::set_data(const uint8_t new_data)
+void can_message_t::set_format(const uint32_t can_id)
{
- if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
- ERROR(binder_interface, "Can set data, your data array is too big");
+ if (can_id & CAN_ERR_FLAG)
+ format_ = CanMessageFormat::ERROR;
+ else if (can_id & CAN_EFF_FLAG)
+ format_ = CanMessageFormat::EXTENDED;
else
- {
- ::memcpy(&data_, &new_data, sizeof(new_data));
- length_ = sizeof(new_data);
- }
+ format_ = CanMessageFormat::STANDARD;
}
-void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
+void can_message_t::set_flags(const uint8_t flags)
{
- length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
- length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
+ flags_ = flags & 0xF;
+}
- if (frame.can_id & CAN_ERR_FLAG)
- {
- id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- format_ = CanMessageFormat::ERROR;
- }
- else if (frame.can_id & CAN_EFF_FLAG)
+void can_message_t::set_length(const uint8_t new_length)
+{
+ if(rtr_flag_)
+ length_ = new_length & 0xF;
+ else
{
- id_ = frame.can_id & CAN_EFF_MASK;
- format_ = CanMessageFormat::EXTENDED;
+ length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
}
- else
+}
+
+void can_message_t::set_data(const __u8* new_data)
+{
+ int i;
+
+ /* 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]);
+ }
+}
+
+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.
+ * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+ if (frame.can_id & CAN_RTR_FLAG)
{
- id_ = frame.can_id & CAN_SFF_MASK;
- format_ = CanMessageFormat::STANDARD;
+ rtr_flag_ = true;
+ if(frame.len && frame.len <= CAN_MAX_DLC)
+ set_length(frame.len);
+ return;
}
- if (sizeof(frame.data) <= sizeof(data_))
- ::memcpy(&data_, frame.data, length_);
- else if (sizeof(frame.data) >= CAN_MAX_DLEN)
- ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
+ /* Flags field only present for CAN FD frames*/
+ if(maxdlen_ == CANFD_MAX_DLEN)
+ set_flags(frame.flags);
+
+ if ( data_.capacity() < maxdlen_)
+ data_.reserve(maxdlen_);
+ set_data(frame.data);
+
+ 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]);
}
canfd_frame can_message_t::convert_to_canfd_frame()
Code Review / apps / agl-service-can-low-level.git / blobdiff