X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-encoder.cpp;h=596cc7e20b6bd9f06a88da6bb751aefd76a93416;hb=92a9d02e999eb72ff08fa0fea375553dbb76a4e6;hp=fb68b879449ada660b2b40a1f6adea8496127590;hpb=64691cf96f9c4d7ff59dbd49e1fe01d26c1a00f6;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 fb68b879..596cc7e2 100644 --- a/low-can-binding/can/can-encoder.cpp +++ b/low-can-binding/can/can-encoder.cpp @@ -26,7 +26,7 @@ * @brief Allows to encode data for a signal * * @param sig The signal to know its location - * @param data The data to encod + * @param data The data to encode * @param filter If true that will generate the filter BCM for the signal * @param factor If true that will use the factor of the signal else 1 * @param offset If true that will use the offset of the signal else 0 @@ -35,96 +35,47 @@ void encoder_t::encode_data(std::shared_ptr sig, std::vector { uint32_t bit_size = sig->get_bit_size(); uint32_t bit_position = sig->get_bit_position(); + float factor_v = factor ? sig->get_factor() : 1; + float offset_v = offset ? sig->get_offset() : 0; + int new_start_byte = 0; int new_end_byte = 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, 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()); - } - else - { - len_signal_bytes = (uint8_t) len_signal_bytes_tmp; - } -/* - if(new_start_bit > 255) - { - 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()); - } - else - { - new_bit_size = (uint8_t) bit_size; - } - - uint8_t data_signal[len_signal_bytes] = {0}; - float factor_v = 1; - if(factor) - { - factor_v = sig->get_factor(); - } - - float offset_v = 0; - if(factor) - { - offset_v = sig->get_offset(); - } + std::vector data_signal(new_end_byte - new_start_byte + 1); if(filter) { - uint8_t tmp = 0; - int j=0; - for(int i=0;i> ((i%8)+new_start_bit); - - uint8_t mask_v = 0; - if(mask > 255) - { - AFB_ERROR("Error mask too large"); - } - else - { - mask_v = (uint8_t) mask; - } - tmp = tmp|mask_v; + for (auto& elt: data_signal) + elt = 0xFF; + uint8_t mask_first_v = static_cast(0xFF << new_start_bit); + uint8_t mask_last_v = static_cast(0xFF >> (7 - new_end_bit)); - if(i%8 == 7) - { - data_signal[j] = tmp; - tmp = 0; - j++; - } + if(new_start_byte == new_end_byte) + { + data_signal[0] = mask_first_v & mask_last_v; + } + else + { + data_signal[0] = mask_first_v; + data_signal[new_end_byte - new_start_byte] = mask_last_v; } - data_signal[j]=tmp; } else { - bitfield_encode_float( sig->get_last_value(), - new_start_bit, - new_bit_size, - factor_v, - offset_v, - data_signal, - len_signal_bytes); + bitfield_encode_float(sig->get_last_value(), + new_start_bit, + bit_size, + factor_v, + offset_v, + data_signal.data(), + bit_size); } for(size_t i = new_start_byte; i <= new_end_byte ; i++) - { data[i] = data[i] | data_signal[i-new_start_byte]; - } } /** @@ -139,17 +90,12 @@ void encoder_t::encode_data(std::shared_ptr sig, std::vector */ message_t* encoder_t::build_frame(const std::shared_ptr& signal, uint64_t value, message_t *message, bool factor, bool offset) { - signal->set_last_value((float)value); - std::vector data; - for(int i = 0; iget_length();i++) - { - data.push_back(0); - } + signal->set_last_value(static_cast(value)); + std::vector data(message->get_length(), 0); 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; } @@ -167,41 +113,47 @@ message_t* encoder_t::build_message(const std::shared_ptr& signal, uin { message_t *message; std::vector data; - if(signal->get_message()->is_fd()) + switch(signal->get_message()->get_flags()) { - 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_frame(signal,value,message, factor, offset); - } + case CAN_PROTOCOL_WITH_FD_FRAME: + 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_frame(signal, value, message, factor, offset); #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_frame(signal,value,message, factor, offset); - } + case J1939_PROTOCOL: + 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_frame(signal, value, message, factor, offset); #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_frame(signal,value,message, factor, offset); + case CAN_PROTOCOL: + 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_frame(signal, value, message, factor, offset); + default: + 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_frame(signal, value, message, factor, offset); } + } /// @brief Encode a boolean into an integer, fit for a CAN signal bitfield.