X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fmessage%2Fcan-message.cpp;h=8a04992e5b7f7476006421698aa5ab3ad2d4436e;hb=d4e4f4a23fefe8df109b990bd59396b527d3d31b;hp=91f662525657cc15250e74f754ec0a9c989d7c4a;hpb=d2d2620bbb8f0aad0181e67e9f6affc3d6cb4a51;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp index 91f66252..8a04992e 100644 --- a/low-can-binding/can/message/can-message.cpp +++ b/low-can-binding/can/message/can-message.cpp @@ -28,25 +28,21 @@ /// can_message_t::can_message_t() : message_t(), - maxdlen_{0}, id_{0}, - rtr_flag_{false}, - flags_{0} + rtr_flag_{false} {} -can_message_t::can_message_t(uint8_t maxdlen, +can_message_t::can_message_t(uint32_t maxdlen, uint32_t id, - uint8_t length, - can_message_format_t format, + uint32_t length, + message_format_t format, bool rtr_flag, - uint8_t flags, + uint32_t flags, std::vector& data, uint64_t timestamp) - : message_t(length, format, data, timestamp), - maxdlen_{maxdlen}, + : message_t(maxdlen, length, format, data, timestamp, flags), id_{id}, - rtr_flag_{rtr_flag}, - flags_{flags} + rtr_flag_{rtr_flag} {} /// @@ -66,10 +62,10 @@ uint32_t can_message_t::get_id() const /// @return True if object correctly initialized and false if not. bool can_message_t::is_correct_to_send() { - if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID) + if (id_ != 0 && length_ != 0 && format_ != message_format_t::INVALID) { int i; - for(i=0;i can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) { - uint8_t maxdlen = 0, length = 0, flags = 0; + uint32_t maxdlen = 0, length = 0; + uint8_t flags = 0; uint32_t id; - can_message_format_t format; + message_format_t format; bool rtr_flag; std::vector data; @@ -109,17 +106,17 @@ std::shared_ptr can_message_t::convert_from_frame(const struct ca if (frame.can_id & CAN_ERR_FLAG) { - format = can_message_format_t::INVALID; + format = 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; + format = message_format_t::EXTENDED; id = frame.can_id & CAN_EFF_MASK; } else { - format = can_message_format_t::STANDARD; + format = message_format_t::STANDARD; id = frame.can_id & CAN_SFF_MASK; } @@ -164,6 +161,109 @@ std::shared_ptr can_message_t::convert_from_frame(const struct ca return std::make_shared(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp)); } +/// @brief Take all initialized class members and build a +/// canfd_frame struct that can be use to send a CAN message over +/// the bus. +/// +/// @return canfd_frame struct built from class members. +struct canfd_frame can_message_t::convert_to_canfd_frame() +{ + canfd_frame frame; + + if(is_correct_to_send()) + { + frame.can_id = get_id(); + frame.len = (uint8_t) get_length(); + ::memcpy(frame.data, get_data(), length_); + } + else + AFB_ERROR("can_message_t not correctly initialized to be sent"); + + return frame; +} + +/// @brief Take all initialized class members and build a +/// canfd_frame struct that can be use to send a CAN message over +/// the bus. +/// +/// @return canfd_frame struct built from class members. +struct std::vector can_message_t::convert_to_canfd_frame_vector() +{ + std::vector ret; + if(is_correct_to_send()) + { + if(flags_ & CAN_FD_FRAME) + { + int i=0; + do + { + canfd_frame frame; + frame.can_id = id_; + frame.len = 64; + std::vector data = get_data_vector((i*64),(i*64)+63); + if(data.size()<64) + { + ::memset(frame.data,0,sizeof(frame.data)); + ::memcpy(frame.data,data.data(),data.size()); + } + else + { + ::memcpy(frame.data,data.data(),64); + } + ret.push_back(frame); + i++; + } while (i<(length_ >> 6)); + } + else + { + int i=0; + do + { + canfd_frame frame; + frame.can_id = id_; + frame.len = 8; + std::vector data = get_data_vector(i*8,(i*8)+7); + if(data.size()<8) + { + ::memset(frame.data,0,sizeof(frame.data)); + ::memcpy(frame.data,data.data(),data.size()); + } + else + { + ::memset(frame.data,0,sizeof(frame.data)); + ::memcpy(frame.data,data.data(),8); + } + ret.push_back(frame); + i++; + } while (i<(length_ >> 3)); + } + } + else + AFB_ERROR("can_message_t not correctly initialized to be sent"); + + return ret; +} + +/// @brief Take all initialized class members and build a +/// can_frame struct that can be use to send a CAN message over +/// the bus. +/// +/// @return can_frame struct built from class members. +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 = (uint8_t) get_length(); + ::memcpy(frame.data, get_data(), length_); + } + else + AFB_ERROR("can_message_t not correctly initialized to be sent"); + + return frame; +} bool can_message_t::is_set() { @@ -173,16 +273,16 @@ bool can_message_t::is_set() std::string can_message_t::get_debug_message() { std::string ret = ""; - ret = ret + "Here is the next can message : id " + std::to_string(id_) + " length " + std::to_string(length_) + ", data "; - for (size_t i = 0; i < data_.size(); i++) - { - ret = ret + std::to_string(data_[i]); - } + ret = ret + "Here is the next can message : id " + std::to_string(id_) + " length " + std::to_string(length_) + ", data "; + for (size_t i = 0; i < data_.size(); i++) + { + ret = ret + std::to_string(data_[i]); + } - return ret; + return ret; } -struct bcm_msg can_message_t::get_bcm_msg() +struct bcm_msg& can_message_t::get_bcm_msg() { return bcm_msg_; } @@ -191,4 +291,3 @@ void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg) { bcm_msg_ = bcm_msg; } -