X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-message.cpp;h=772734d71953ae134de7ce97c901b4f10290dfe8;hb=e4a50a3e96aa39346ad7212cae984524276973dd;hp=3575348f9d2fbe5b46739655e127088ad93b015e;hpb=d170c9faeae2cf29c19f3523714ecdf58be73bed;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..772734d7 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 +27,7 @@
 /// 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}
 {}
 
 can_message_t::can_message_t(uint8_t maxdlen,
@@ -36,14 +36,16 @@ 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}
 {}
 
 ///
@@ -74,7 +76,7 @@ bool can_message_t::get_rtr_flag_() const
 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 +101,16 @@ 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.
 ///
@@ -109,6 +121,16 @@ uint8_t can_message_t::get_length() const
 	return length_;
 }
 
+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
@@ -117,7 +139,7 @@ uint8_t can_message_t::get_length() const
 ///
 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++)
@@ -137,7 +159,7 @@ bool can_message_t::is_correct_to_send()
 ///
 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__);
@@ -152,7 +174,7 @@ void can_message_t::set_format(const can_message_format_t new_format)
 ///
 /// @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;
@@ -177,7 +199,7 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& 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)
@@ -229,10 +251,10 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame,
 								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)
+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;
@@ -252,7 +274,7 @@ can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, s
 
 	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)
@@ -300,7 +322,7 @@ can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, s
 //								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);
 }
 
 ///