X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-encoder.cpp;h=1a5dcdc9001d8ae016714e4bee2f41b9450d609c;hb=8a4792aa20a7b8fa9efc0fce558ac341ee46486f;hp=37a7b24674e74464005b8e2b963a6ee7cfa124b3;hpb=7f038fed824cac9b747c033b441263512421c6b2;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp index 37a7b246..1a5dcdc9 100644 --- a/low-can-binding/can/can-encoder.cpp +++ b/low-can-binding/can/can-encoder.cpp @@ -37,37 +37,32 @@ void encoder_t::encode_data(std::shared_ptr sig, std::vector uint32_t bit_position = sig->get_bit_position(); int new_start_byte = 0; int new_end_byte = 0; - int new_start_bit_tmp = 0; - int new_end_bit = 0; + uint8_t new_start_bit = 0; + uint8_t new_end_bit = 0; - converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit_tmp, new_end_bit); + converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit, new_end_bit); int len_signal_bytes_tmp = new_end_byte - new_start_byte + 1; uint8_t len_signal_bytes = 0; if(len_signal_bytes_tmp > 255) { - AFB_ERROR("Error signal %s too long",sig->get_name().c_str()); + AFB_ERROR("Error signal %s too long", sig->get_name().c_str()); } else { len_signal_bytes = (uint8_t) len_signal_bytes_tmp; } - - uint8_t new_start_bit = 0; - if(new_start_bit_tmp > 255) - { - AFB_ERROR("Error signal %s too long",sig->get_name().c_str()); - } - else +/* + if(new_start_bit > 255) { - new_start_bit = (uint8_t) new_start_bit_tmp; + AFB_ERROR("Error signal %s too long", sig->get_name().c_str()); } - +*/ uint8_t new_bit_size = 0; if(bit_size > 255) { - AFB_ERROR("Error signal %s to long bit size",sig->get_name().c_str()); + AFB_ERROR("Error signal %s to long bit size", sig->get_name().c_str()); } else { @@ -153,7 +148,7 @@ message_t* encoder_t::build_frame(const std::shared_ptr& signal, uint6 for(const auto& sig: signal->get_message()->get_signals()) { - encode_data(sig,data,false,factor,offset); + encode_data(sig, data, false, factor, offset); } message->set_data(data); return message; @@ -182,7 +177,7 @@ message_t* encoder_t::build_message(const std::shared_ptr& signal, uin data, 0); - return build_frame(signal,value,message, factor, offset); + return build_frame(signal, value, message, factor, offset); } #ifdef USE_FEATURE_J1939 else if(signal->get_message()->is_j1939()) @@ -193,7 +188,7 @@ message_t* encoder_t::build_message(const std::shared_ptr& signal, uin J1939_NO_NAME, signal->get_message()->get_id(), J1939_NO_ADDR); - return build_frame(signal,value,message, factor, offset); + return build_frame(signal, value, message, factor, offset); } #endif else @@ -205,7 +200,136 @@ message_t* encoder_t::build_message(const std::shared_ptr& signal, uin signal->get_message()->get_flags(), data, 0); - return build_frame(signal,value,message, factor, offset); + return build_frame(signal, value, message, factor, offset); + } +} + + +/** + * @brief Allows to build a single frame message with correct data to be send + * + * @param signal The CAN signal to write, including the bit position and bit size. + * @param value The encoded integer value to write in the CAN signal. + * @param message A single frame message to complete + * @return message_t* The message that is generated + */ +message_t* encoder_t::build_one_frame_message(const std::shared_ptr& signal, uint64_t value, message_t *message) +{ + signal->set_last_value((float)value); + uint8_t data_tab[message->get_length()]; + std::vector data; + + for(const auto& sig: signal->get_message()->get_signals()) + { + float last_value = sig->get_last_value(); + bitfield_encode_float(last_value, + sig->get_bit_position(), + sig->get_bit_size(), + sig->get_factor(), + sig->get_offset(), + data_tab, + (uint8_t)message->get_length()); + } + + for (size_t i = 0; i < (uint8_t) message->get_length(); i++) + { + data.push_back(data_tab[i]); + } + + message->set_data(data); + return message; +} + +/** + * @brief Allows to build a multi frame message with correct data to be send + * + * @param signal The CAN signal to write, including the bit position and bit size. + * @param value The encoded integer value to write in the CAN signal. + * @param message A multi frame message to complete + * @return message_t* The message that is generated + */ +message_t* encoder_t::build_multi_frame_message(const std::shared_ptr& signal, uint64_t value, message_t *message) +{ + signal->set_last_value((float)value); + std::vector data; + + uint32_t msgs_len = signal->get_message()->get_length(); // multi frame - number of bytes + int number_of_frame = (int) msgs_len / 8; + + uint8_t data_tab[number_of_frame][8] = {0}; + + for(const auto& sig: signal->get_message()->get_signals()) + { + + int frame_position = (int) sig->get_bit_position() / 64; + float last_value = sig->get_last_value(); + uint8_t bit_position = sig->get_bit_position() - ((uint8_t)(64 * frame_position)); + + bitfield_encode_float(last_value, + bit_position, + sig->get_bit_size(), + sig->get_factor(), + sig->get_offset(), + data_tab[frame_position], + 8); + } + + for (size_t i = 0; i < number_of_frame; i++) + { + for(size_t j = 0; j < 8 ; j++) + { + data.push_back(data_tab[i][j]); + } + } + + message->set_data(data); + return message; +} + +/** + * @brief Allows to build a message_t with correct data to be send + * + * @param signal The CAN signal to write, including the bit position and bit size. + * @param value The encoded integer value to write in the CAN signal. + * @return message_t* The message that is generated + */ +message_t* encoder_t::build_message(const std::shared_ptr& signal, uint64_t value) +{ + message_t *message; + std::vector data; + if(signal->get_message()->is_fd()) + { + message = new can_message_t(CANFD_MAX_DLEN, + signal->get_message()->get_id(), + CANFD_MAX_DLEN, + false, + signal->get_message()->get_flags(), + data, + 0); + return build_one_frame_message(signal, value, message); + } +#ifdef USE_FEATURE_J1939 + else if(signal->get_message()->is_j1939()) + { + message = new j1939_message_t(signal->get_message()->get_length(), + data, + 0, + J1939_NO_NAME, + signal->get_message()->get_id(), + J1939_NO_ADDR); + return build_multi_frame_message(signal, value, message); + } +#endif + else + { + message = new can_message_t(CAN_MAX_DLEN, + signal->get_message()->get_id(), + CAN_MAX_DLEN, + false, + signal->get_message()->get_flags(), + data, + 0); + return build_one_frame_message(signal, value, message); } }