X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fmessage%2Fcan-message.cpp;h=deca5c724305374d30a65f7ba897bc4ab73f4804;hb=aeeb786722b5cdeabff5568b40f7075dc23140b9;hp=b012bbe5d443e05d61ce7c92e8d4178a858e8b46;hpb=2f60d294b3fa4e243fa67a738f9b82a0b428a7fc;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 b012bbe5..deca5c72 100644
--- a/low-can-binding/can/message/can-message.cpp
+++ b/low-can-binding/can/message/can-message.cpp
@@ -28,22 +28,20 @@
 ///
 can_message_t::can_message_t()
 	: message_t(),
-	 maxdlen_{0},
 	 id_{0},
 	 rtr_flag_{false},
 	 flags_{0}
 {}
 
-can_message_t::can_message_t(uint8_t maxdlen,
+can_message_t::can_message_t(uint32_t maxdlen,
 	uint32_t id,
-	uint8_t length,
+	uint32_t length,
 	message_format_t format,
 	bool rtr_flag,
-	uint8_t flags,
+	uint32_t flags,
 	std::vector<uint8_t>& data,
 	uint64_t timestamp)
-	: message_t(length, format, data, timestamp),
-	maxdlen_{maxdlen},
+	: message_t(maxdlen, length, format, data, timestamp),
 	id_{id},
 	rtr_flag_{rtr_flag},
 	flags_{flags}
@@ -69,7 +67,7 @@ bool can_message_t::is_correct_to_send()
 	if (id_ != 0 && length_ != 0 && format_ != message_format_t::INVALID)
 	{
 		int i;
-		for(i=0;i<CAN_MESSAGE_SIZE;i++)
+		for(i=0;i<length_;i++)
 			if(data_[i] != 0)
 				return true;
 	}
@@ -86,7 +84,8 @@ bool can_message_t::is_correct_to_send()
 /// @return A can_message_t object fully initialized with canfd_frame values.
 std::shared_ptr<can_message_t> 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;
 	message_format_t format;
 	bool rtr_flag;
@@ -164,6 +163,109 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca
 	return std::make_shared<can_message_t>(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<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.
+///
+/// @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()
 {
@@ -173,13 +275,13 @@ 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()
@@ -192,3 +294,7 @@ 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