X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fmessage%2Fcan-message.cpp;h=b274206b6e83ec4bbc7ef86611d758ddac868a4f;hb=refs%2Fchanges%2F53%2F22253%2F4;hp=90bade53312b458b1048b5bc8946b17541a27049;hpb=4bc8984b3b1f531e9d43a09317485a301a9f5379;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 90bade53..b274206b 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<uint8_t>& 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_SIZE;i++)
+		for(i=0;i<length_;i++)
 			if(data_[i] != 0)
 				return true;
 	}
@@ -85,9 +87,8 @@ bool can_message_t::is_correct_to_send()
 std::shared_ptr<can_message_t> 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<uint8_t> data;
 
@@ -108,17 +109,17 @@ std::shared_ptr<can_message_t> 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;
+		flags = flags|EXTENDED_ID;
 		id = frame.can_id & CAN_EFF_MASK;
 	}
 	else
 	{
-		format = message_format_t::STANDARD;
+		flags = flags|STANDARD_ID;
 		id = frame.can_id & CAN_SFF_MASK;
 	}
 
@@ -142,8 +143,8 @@ std::shared_ptr<can_message_t> 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 +158,10 @@ std::shared_ptr<can_message_t> 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>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp));
+	return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, rtr_flag, flags, data, timestamp));
 }
 
 /// @brief Take all initialized class members and build a
@@ -184,6 +185,68 @@ struct canfd_frame can_message_t::convert_to_canfd_frame()
 	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<canfd_frame> can_message_t::convert_to_canfd_frame_vector()
+{
+	std::vector<canfd_frame> 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<uint8_t> 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<uint8_t> 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.
@@ -222,7 +285,7 @@ std::string can_message_t::get_debug_message()
 	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 +294,3 @@ 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