uint32_t can_message_t::get_id() const
{
- (id_ != 0) ? return id_ : return 0;
+ if (id_ != 0)
+ return id_;
+ return 0;
}
int can_message_t::get_format() const
{
- (format_ != CanMessageFormat::SIMPLE || format_ != CanMessageFormat::EXTENDED) return -1 : return format_;
+ if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
+ return -1;
+ return format_;
}
-uint8_t can_message_t::get_data() const
+const uint8_t* can_message_t::get_data() const
{
- return data_;
+ return &data_;
}
-uint8_t can_message_t::get_lenght() const
+uint8_t can_message_t::get_length() const
{
- return lenght_;
+ return length_;
}
-void can_message_t::set_id(uint32_t &new_id)
+void can_message_t::set_id(const uint32_t new_id)
{
- switch(format):
- case CanMessageFormat::SIMPLE:
- id = new_id & CAN_SFF_MASK;
+ switch(format_)
+ {
+ case CanMessageFormat::STANDARD:
+ id_ = new_id & CAN_SFF_MASK;
+ break;
case CanMessageFormat::EXTENDED:
- id = new_id & CAN_EFF_MASK;
+ id_ = new_id & CAN_EFF_MASK;
+ break;
default:
ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+ break;
+ }
}
-void can_message_t::set_format(CanMessageFormat &new_format)
+void can_message_t::set_format(const CanMessageFormat new_format)
{
- if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
- format = new_format;
+ if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
+ format_ = new_format;
else
ERROR(interface_, "ERROR: Can set format, wrong format chosen");
}
-void can_message_t::set_data(uint8_t &new_data)
+void can_message_t::set_data(const uint8_t new_data)
{
- ::memcpy(data_, new_data, new_data.size());
- lenght_ = new_data(size);
+ ::memcpy(&data_, &new_data, sizeof(new_data));
+ length_ = sizeof(new_data);
}
/*
- * This is the preferred way to initialize a CanMessage object
+ * @brief This is the preferred way to initialize a CanMessage object
* from a read canfd_frame message.
*
- * params: canfd_frame pointer
+ * @param: canfd_frame pointer
*/
-void can_message_t::convert_from_canfd_frame(canfd_frame &frame)
+void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
{
- lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len;
- lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len;
-
- switch (frame.can_id):
- case (frame.can_id & CAN_ERR_FLAG):
- id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- break;
- case (frame.can_id & CAN_EFF_FLAG):
- id_ = frame.can_id & CAN_EFF_MASK;
- format_ = CanMessageFormat::EXTENDED;
- break;
- default:
- format_ = CanMessageFormat::STANDARD;
- id_ = frame.can_id & CAN_SFF_MASK;
- break;
+ 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;
- if (sizeof(frame.data) <= data_.size())
+ if (frame.can_id & CAN_ERR_FLAG)
+ id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ else if (frame.can_id & CAN_EFF_FLAG)
{
- ::memcpy(data_, canfd_frame.data, lenght_);
- return 0;
- } else if (sizeof(frame.data) >= CAN_MAX_DLEN)
+ id_ = frame.can_id & CAN_EFF_MASK;
+ format_ = CanMessageFormat::EXTENDED;
+ }
+ else
+ {
+ id_ = frame.can_id & CAN_SFF_MASK;
+ format_ = CanMessageFormat::STANDARD;
+ }
+
+ if (sizeof(frame.data) <= sizeof(data_))
+ ::memcpy(&data_, frame.data, length_);
+ else if (sizeof(frame.data) >= CAN_MAX_DLEN)
ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
}
canfd_frame frame;
frame.can_id = get_id();
- frame.len = get_lenght();
- ::memcpy(frame.data, get_data(), lenght_);
+ frame.len = get_length();
+ ::memcpy(frame.data, get_data(), length_);
return frame;
}
{
::close(can_socket_);
can_socket_ = -1;
+ return can_socket_;
}
canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
*
* @return the next queue element or NULL if queue is empty.
*/
-can_message_t can_bus_dev_t::next_can_message()
+can_message_t can_bus_dev_t::next_can_message(const struct afb_binding_interface* interface)
{
- if(! can_message_q_.empty())
+ can_message_t can_msg(interface);
+
+ if(!can_message_q_.empty())
{
- can_message_t can_msg = can_message_q_.front();
+ can_msg = can_message_q_.front();
can_message_q_.pop();
+ DEBUG(interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
return can_msg;
}
+ NOTICE(interface, "next_can_message: End of can message queue");
has_can_message_ = false;
+ return can_msg;
}
/**
{
nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
(struct sockaddr*)&txAddress_, sizeof(txAddress_));
-
if (nbytes == -1)
{
ERROR(interface, "send_can_message: Sending CAN frame failed.");
/**
* @brief start threads relative to the can bus: decoding and pushing
* as the reading is handled by can_bus_dev_t object
- *
*/
void can_bus_t::start_threads()
{
*/
openxc_VehicleMessage can_bus_t::next_vehicle_message()
{
+ openxc_VehicleMessage v_msg;
+
if(! vehicle_message_q_.empty())
{
- openxc_VehicleMessage v_msg = vehicle_message_q_.front();
+ v_msg = vehicle_message_q_.front();
vehicle_message_q_.pop();
+ DEBUG(interface_, "next_vehicle_message: next vehicle message poped");
return v_msg;
}
-
+
+ NOTICE(interface_, "next_vehicle_message: End of vehicle message queue");
has_vehicle_message_ = false;
+ return v_msg;
}
/**
Code Review / apps / low-level-can-service.git / blobdiff