X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-message.cpp;h=abfbfdb064971464187f4d57ebc98910e9e70246;hb=7747851ca010a3dfe9ffee808376dd5a7af68b91;hp=f27dce3f80c5b329e800deccd47c28e3444fbc79;hpb=f0973849c4df5740ffb241a21fc08398fa741a7e;p=apps%2Flow-level-can-service.git

diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp
index f27dce3..abfbfdb 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++)
@@ -137,13 +159,12 @@ 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__);
 }
 
-///
 /// @brief Take a canfd_frame struct to initialize class members
 ///
 /// This is the preferred way to initialize class members.
@@ -153,7 +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_canfd_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;
@@ -177,26 +198,19 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_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)
+	{
 		format = can_message_format_t::EXTENDED;
+		id = frame.can_id & CAN_EFF_MASK;
+	}
 	else
-		format = can_message_format_t::STANDARD;
-		
-	switch(format)
 	{
-		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, "%s: Can set id, not a compatible format or format not set prior to set id.", __FUNCTION__);
-			break;
+		format = can_message_format_t::STANDARD;
+		id = frame.can_id & CAN_SFF_MASK;
 	}
 
 	/* Overwrite length_ if RTR flags is detected.
@@ -237,7 +251,78 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_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, uint64_t timestamp)
+{
+	uint8_t maxdlen, length, flags = (uint8_t)NULL;
+	uint32_t id;
+	can_message_format_t format;
+	bool rtr_flag;
+	std::vector<uint8_t> data;
+
+	if(nbytes <= CAN_MTU)
+	{
+			DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__);
+			maxdlen = CAN_MAX_DLEN;
+	}
+	else
+	{
+			ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__);
+	}
+
+	if (frame.can_id & CAN_ERR_FLAG)
+	{
+		format = can_message_format_t::INVALID;
+		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+	}
+	else if (frame.can_id & CAN_EFF_FLAG)
+	{
+		format = can_message_format_t::EXTENDED;
+		id = frame.can_id & CAN_EFF_MASK;
+	}
+	else
+	{
+		format = can_message_format_t::STANDARD;
+		id = frame.can_id & CAN_SFF_MASK;
+	}
+
+	/* 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;
+		if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
+		{
+			if(rtr_flag)
+				length = frame.can_dlc& 0xF;
+			else
+			{
+				length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+			}
+		}
+	}
+	else
+	{
+		length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+
+		if (data.capacity() < maxdlen)
+			data.reserve(maxdlen);
+				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(frame.data[i]);
+			};
+
+//		DEBUG(binder_interface, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__,
+//								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, timestamp);
 }
 
 ///
@@ -247,7 +332,7 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
 ///
 /// @return canfd_frame struct built from class members.
 ///
-canfd_frame can_message_t::convert_to_canfd_frame()
+struct canfd_frame can_message_t::convert_to_canfd_frame()
 {
 	canfd_frame frame;
 
@@ -262,3 +347,19 @@ canfd_frame can_message_t::convert_to_canfd_frame()
 
 	return frame;
 }
+
+struct can_frame can_message_t::convert_to_can_frame()
+{
+	can_frame frame;
+
+	if(is_correct_to_send())
+	{
+		frame.can_id = get_id();
+		frame.can_dlc = get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__);
+
+	return frame;
+}