X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-encoder.cpp;h=a11dedfc0d5eeaab9d80b0fafc233bf565e0bbdd;hb=2f60d294b3fa4e243fa67a738f9b82a0b428a7fc;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..a11dedfc 100644
--- a/low-can-binding/can/can-encoder.cpp
+++ b/low-can-binding/can/can-encoder.cpp
@@ -19,31 +19,38 @@
 
 #include "canutil/write.h"
 #include "../utils/openxc-utils.hpp"
-#include "can-message-definition.hpp"
-#include "../binding/low-can-hat.hpp"
+#include "message-definition.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<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_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;
 }
@@ -62,7 +69,7 @@ const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& sign
 /// @return Returns the encoded integer. If 'send' is changed to false, the field could
 /// not be encoded and the return value is undefined.
 ///
-uint64_t encoder_t::encode_boolean(const can_signal_t& signal, bool value, bool* send)
+uint64_t encoder_t::encode_boolean(const signal_t& signal, bool value, bool* send)
 {
 	return encode_number(signal, float(value), send);
 }
@@ -80,7 +87,7 @@ uint64_t encoder_t::encode_boolean(const can_signal_t& signal, bool value, bool*
 /// @return Returns the encoded integer. If 'send' is changed to false, the field could
 /// not be encoded and the return value is undefined.
 ///
-uint64_t encoder_t::encode_number(const can_signal_t& signal, float value, bool* send)
+uint64_t encoder_t::encode_number(const signal_t& signal, float value, bool* send)
 {
 	return float_to_fixed_point(value, signal.get_factor(), signal.get_offset());
 }
@@ -102,7 +109,7 @@ uint64_t encoder_t::encode_number(const can_signal_t& signal, float value, bool*
 /// @return Returns the encoded integer. If 'send' is changed to false, the field could
 /// not be encoded and the return value is undefined.
 ///
-uint64_t encoder_t::encode_state(const can_signal_t& signal, const std::string& state, bool* send)
+uint64_t encoder_t::encode_state(const signal_t& signal, const std::string& state, bool* send)
 {
 	uint64_t value = 0;
 	if(state == "")
@@ -126,7 +133,7 @@ uint64_t encoder_t::encode_state(const can_signal_t& signal, const std::string&
 /// @brief Parse a signal from a CAN message and apply any required
 /// transforations to get a human readable value.
 ///
-/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value
+/// If the signal_t has a non-NULL 'decoder' field, the raw CAN signal value
 /// will be passed to the decoder before returning.
 ///
 /// @param[in] signal - The details of the signal to decode and forward.
@@ -137,7 +144,7 @@ uint64_t encoder_t::encode_state(const can_signal_t& signal, const std::string&
 /// @return The decoder returns an openxc_DynamicField, which may contain a number,
 /// string or boolean. If 'send' is false, the return value is undefined.
 ///
-uint64_t encoder_t::encode_DynamicField( can_signal_t& signal, const openxc_DynamicField& field, bool* send)
+uint64_t encoder_t::encode_DynamicField( signal_t& signal, const openxc_DynamicField& field, bool* send)
 {
 	uint64_t value = 0;
 	switch(field.type) {