X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-message.cpp;h=057bc71f0424a2917ceabf79fed25757a6daaa1c;hb=76c43dec62b2e21cd6446360c00d4fe6b437533f;hp=3575348f9d2fbe5b46739655e127088ad93b015e;hpb=f44a5b1549bc4c8a84d0dedf4a8b1e4220a34f42;p=apps%2Fagl-service-can-low-level.git

diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp
index 3575348f..057bc71f 100644
--- a/CAN-binder/low-can-binding/can/can-message.cpp
+++ b/CAN-binder/low-can-binding/can/can-message.cpp
@@ -19,7 +19,7 @@
 
 #include <cstring>
 
-#include "../low-can-binding.hpp"
+#include "../binding/low-can-hat.hpp"
 
 ///
 /// @brief Class constructor
@@ -27,7 +27,14 @@
 /// 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}
+	: maxdlen_{0},
+	 id_{0},
+	 length_{0},
+	 format_{can_message_format_t::INVALID},
+	 rtr_flag_{false},
+	 flags_{0},
+	 timestamp_{0},
+	 sub_id_{-1}
 {}
 
 can_message_t::can_message_t(uint8_t maxdlen,
@@ -36,14 +43,17 @@ can_message_t::can_message_t(uint8_t maxdlen,
 	can_message_format_t format,
 	bool rtr_flag,
 	uint8_t flags,
-	std::vector<uint8_t> data)
+	std::vector<uint8_t>& data,
+	uint64_t timestamp)
 	:  maxdlen_{maxdlen},
 	id_{id},
 	length_{length},
 	format_{format},
 	rtr_flag_{rtr_flag},
 	flags_{flags},
-	data_{data}
+	data_{data},
+	timestamp_{timestamp},
+	sub_id_{-1}
 {}
 
 ///
@@ -56,6 +66,11 @@ uint32_t can_message_t::get_id() const
 	return id_;
 }
 
+int can_message_t::get_sub_id() const
+{
+	return sub_id_;
+}
+
 ///
 /// @brief Retrieve RTR flag member.
 ///
@@ -69,12 +84,12 @@ bool can_message_t::get_rtr_flag_() const
 ///
 /// @brief Retrieve format_ member value.
 ///
-/// @return format_ class member
+/// @return format_ class member. Default to INVALID.
 ///
 can_message_format_t can_message_t::get_format() const
 {
 	if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
-		return can_message_format_t::ERROR;
+		return can_message_format_t::INVALID;
 	return format_;
 }
 
@@ -99,6 +114,16 @@ const uint8_t* can_message_t::get_data() const
 	return data_.data();
 }
 
+///
+/// @brief Retrieve data_ member whole vector
+///
+/// @return the vector as is
+///
+const std::vector<uint8_t> can_message_t::get_data_vector() const
+{
+	return data_;
+}
+
 ///
 /// @brief Retrieve length_ member value.
 ///
@@ -109,15 +134,28 @@ uint8_t can_message_t::get_length() const
 	return length_;
 }
 
-///
+void can_message_t::set_sub_id(int sub_id)
+{
+	sub_id_ = sub_id;
+}
+
+uint64_t can_message_t::get_timestamp() const
+{
+	return timestamp_;
+}
+
+void can_message_t::set_timestamp(uint64_t timestamp)
+{
+	timestamp_ = timestamp;
+}
+
 /// @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.
-///
+/// @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)
+	if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID)
 	{
 		int i;
 		for(i=0;i<CAN_MESSAGE_SIZE;i++)
@@ -127,20 +165,18 @@ bool can_message_t::is_correct_to_send()
 	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
-///
 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)
+	if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID)
 		format_ = new_format;
 	else
-		ERROR(binder_interface, "%s: Can set format, wrong format chosen", __FUNCTION__);
+		ERROR("Can set format, wrong format chosen");
 }
 
 /// @brief Take a canfd_frame struct to initialize class members
@@ -151,8 +187,7 @@ void can_message_t::set_format(const can_message_format_t new_format)
 /// @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_frame(const struct canfd_frame& frame, size_t nbytes)
+can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
 {
 	uint8_t maxdlen, length, flags = (uint8_t)NULL;
 	uint32_t id;
@@ -163,21 +198,21 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame,
 	switch(nbytes)
 	{
 		case CANFD_MTU:
-			DEBUG(binder_interface, "%s: Got an CAN FD frame", __FUNCTION__);
+			DEBUG("Got an CAN FD frame");
 			maxdlen = CANFD_MAX_DLEN;
 			break;
 		case CAN_MTU:
-			DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__);
+			DEBUG("Got a legacy CAN frame");
 			maxdlen = CAN_MAX_DLEN;
 			break;
 		default:
-			ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__);
+			ERROR("unsupported CAN frame");
 			break;
 	}
 
 	if (frame.can_id & CAN_ERR_FLAG)
 	{
-		format = can_message_format_t::ERROR;
+		format = can_message_format_t::INVALID;
 		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 	}
 	else if (frame.can_id & CAN_EFF_FLAG)
@@ -225,14 +260,22 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame,
 				data.push_back(frame.data[i]);
 			};
 
-		DEBUG(binder_interface, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__,
+		DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
 								id, (uint8_t)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);
+	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
 }
 
-can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes)
+/// @brief Take a can_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - can_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 can_frame values.
+can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
 {
 	uint8_t maxdlen, length, flags = (uint8_t)NULL;
 	uint32_t id;
@@ -242,17 +285,17 @@ can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, s
 
 	if(nbytes <= CAN_MTU)
 	{
-			DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__);
+			DEBUG("Got a legacy CAN frame");
 			maxdlen = CAN_MAX_DLEN;
 	}
 	else
 	{
-			ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__);
+			ERROR("unsupported CAN frame");
 	}
 
 	if (frame.can_id & CAN_ERR_FLAG)
 	{
-		format = can_message_format_t::ERROR;
+		format = can_message_format_t::INVALID;
 		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 	}
 	else if (frame.can_id & CAN_EFF_FLAG)
@@ -296,20 +339,18 @@ can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, s
 				data.push_back(frame.data[i]);
 			};
 
-//		DEBUG(binder_interface, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__,
+//		DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
 //								id, (uint8_t)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);
+	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
 }
 
-///
 /// @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.
-///
 struct canfd_frame can_message_t::convert_to_canfd_frame()
 {
 	canfd_frame frame;
@@ -321,11 +362,16 @@ struct canfd_frame can_message_t::convert_to_canfd_frame()
 		::memcpy(frame.data, get_data(), length_);
 	}
 	else
-		ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__);
+		ERROR("can_message_t not correctly initialized to be sent");
 
 	return frame;
 }
 
+/// @brief Take all initialized class's members and build an
+/// can_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return can_frame struct built from class members.
 struct can_frame can_message_t::convert_to_can_frame()
 {
 	can_frame frame;
@@ -337,7 +383,7 @@ struct can_frame can_message_t::convert_to_can_frame()
 		::memcpy(frame.data, get_data(), length_);
 	}
 	else
-		ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__);
+		ERROR("can_message_t not correctly initialized to be sent");
 
 	return frame;
 }