X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-encoder.cpp;h=4b8a2963b616384fc87aec98453f122cb6a53583;hb=97a08a7e37835f0e8619d22c83243bee26a2bff2;hp=9ba8531724cbfc8a33bbebf37be5102c726a26ef;hpb=2a4abf5bd6440e9cd5b98b70453d74ae3d1b8cfa;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 9ba85317..4b8a2963 100644
--- a/low-can-binding/can/can-encoder.cpp
+++ b/low-can-binding/can/can-encoder.cpp
@@ -20,30 +20,37 @@
 #include "canutil/write.h"
 #include "../utils/openxc-utils.hpp"
 #include "can-message-definition.hpp"
-#include "../binding/low-can-hat.hpp"
 
-/// @brief Write a value into a CAN signal in the destination buffer.
+/// @brief Write a value in a CAN signal in the destination buffer.
 ///
 /// @param[in] signal - The CAN signal to write, including the bit position and bit size.
-/// @param[in] value - The encoded integer value to write into the CAN signal.
+/// @param[in] value - The encoded integer value to write in the CAN signal.
 /// @param[out] data - The destination buffer.
 /// @param[in] length - The length of the destination buffer.
 ///
-/// @return Returns a can_frame struct initialized and ready to be send.
-const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value)
+/// @return Returns a canfd_frame struct initialized and ready to be send.
+const canfd_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value)
 {
-	struct can_frame cf;
+	struct canfd_frame cf;
 	::memset(&cf, 0, sizeof(cf));
 
 	cf.can_id = signal->get_message()->get_id();
-	cf.can_dlc = CAN_MAX_DLEN;
-	bitfield_encode_float((float)value,
-						signal->get_bit_position(),
-						signal->get_bit_size(),
-						signal->get_factor(),
-						signal->get_offset(),
-						cf.data,
-						CAN_MAX_DLEN);
+	cf.len = signal->get_message()->is_fd() ?
+		 CANFD_MAX_DLEN : CAN_MAX_DLEN;
+
+	signal->set_last_value((float)value);
+
+	for(const auto& sig: signal->get_message()->get_can_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(),
+					cf.data,
+					cf.len);
+	}
 
 	return cf;
 }