X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fmessage%2Fcan-message.cpp;h=a8843b9f36ab038f3c9cac761fa329815a407dfc;hb=d3ec67b912df6e67239cd5b283135d077dc78744;hp=945c0ba77e3e89b8734a68959fbbf1ba82933559;hpb=88077fb4b383cf7f35093b6cc0d2d9d86c6f1bf3;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 945c0ba7..a8843b9f 100644 --- a/low-can-binding/can/message/can-message.cpp +++ b/low-can-binding/can/message/can-message.cpp @@ -29,22 +29,19 @@ can_message_t::can_message_t() : message_t(), id_{0}, - rtr_flag_{false}, - flags_{0} + rtr_flag_{false} {} can_message_t::can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, - message_format_t format, bool rtr_flag, uint32_t flags, std::vector& data, uint64_t timestamp) - : message_t(maxdlen, length, format, data, timestamp), + : message_t(maxdlen, length, flags, data, timestamp), id_{id}, - rtr_flag_{rtr_flag}, - flags_{flags} + rtr_flag_{rtr_flag} {} /// @@ -58,16 +55,21 @@ uint32_t can_message_t::get_id() const } +void can_message_t::set_id(const canid_t id) +{ + id_ = id; +} + /// @brief Control whether the object is correctly initialized /// to be sent over the CAN bus /// /// @return True if object correctly initialized and false if not. bool can_message_t::is_correct_to_send() { - if (id_ != 0 && length_ != 0 && format_ != message_format_t::INVALID) + if (id_ != 0 && length_ != 0 && !(flags_&INVALID_FLAG)) { int i; - for(i=0;i can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) { uint32_t maxdlen = 0, length = 0; - uint8_t flags = 0; + uint32_t flags = 0; uint32_t id; - message_format_t format; bool rtr_flag; std::vector data; @@ -108,17 +109,15 @@ std::shared_ptr can_message_t::convert_from_frame(const struct ca if (frame.can_id & CAN_ERR_FLAG) { - format = message_format_t::INVALID; + flags = flags|INVALID_FLAG; id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); } else if (frame.can_id & CAN_EFF_FLAG) { - format = message_format_t::EXTENDED; id = frame.can_id & CAN_EFF_MASK; } else { - format = message_format_t::STANDARD; id = frame.can_id & CAN_SFF_MASK; } @@ -132,9 +131,7 @@ std::shared_ptr can_message_t::convert_from_frame(const struct ca if(rtr_flag) length = frame.len& 0xF; else - { length = (frame.len > maxdlen) ? maxdlen : frame.len; - } } } else @@ -142,8 +139,8 @@ std::shared_ptr can_message_t::convert_from_frame(const struct ca length = (frame.len > maxdlen) ? maxdlen : frame.len; /* Flags field only present for CAN FD frames*/ - if(maxdlen == CANFD_MAX_DLEN) - flags = frame.flags & 0xF; + /*if(maxdlen == CANFD_MAX_DLEN) + flags = frame.flags & 0xF;*/ if (data.capacity() < maxdlen) data.reserve(maxdlen); @@ -157,10 +154,10 @@ std::shared_ptr can_message_t::convert_from_frame(const struct ca }; AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", - id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); + id, (uint32_t)flags, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); } - return std::make_shared(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp)); + return std::make_shared(can_message_t(maxdlen, id, length, rtr_flag, flags, data, timestamp)); } /// @brief Take all initialized class members and build a @@ -179,11 +176,75 @@ struct canfd_frame can_message_t::convert_to_canfd_frame() ::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. @@ -200,7 +261,9 @@ struct can_frame can_message_t::convert_to_can_frame() ::memcpy(frame.data, get_data(), length_); } else + { AFB_ERROR("can_message_t not correctly initialized to be sent"); + } return frame; } @@ -213,16 +276,14 @@ 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_; } @@ -231,8 +292,3 @@ void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg) { bcm_msg_ = bcm_msg; } - -uint32_t can_message_t::get_flags() -{ - return flags_; -} \ No newline at end of file