X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan%2Fcan-message.cpp;h=6b40d912435e764ff30130770c476a107f26bd80;hb=53cd923a034162273fea2f4fb045b28686f51df5;hp=1be0d2d4fd6b4780d8cbf213a417b25095e4b7b8;hpb=250262eee0cfd5570298f8d69c498adc0688bdc6;p=apps%2Flow-level-can-service.git diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp index 1be0d2d..6b40d91 100644 --- a/src/can/can-message.cpp +++ b/src/can/can-message.cpp @@ -15,24 +15,23 @@ * limitations under the License. */ -#include "can/can-message.hpp" +#include "can-message.hpp" #include -#include "low-can-binding.hpp" +#include "../low-can-binding.hpp" -/******************************************************************************** -* -* CanMessage method implementation -* -*********************************************************************************/ /** * @brief Class constructor * * Constructor about can_message_t class. */ can_message_t::can_message_t() - : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{can_message_format_t::ERROR}, maxdlen_{0} + : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0} +{} + +can_message_t::can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag, uint8_t flags, std::vector data) + : maxdlen_{maxdlen}, id_{id}, length_{length}, format_{format}, rtr_flag_{rtr_flag}, flags_{flags}, data_{data} {} /** @@ -70,7 +69,7 @@ can_message_format_t can_message_t::get_format() const /** * @brief Retrieve flags_ member value. * -* @return flags_ class member +* @return flags_ class member */ uint8_t can_message_t::get_flags() const { @@ -80,7 +79,7 @@ uint8_t can_message_t::get_flags() const /** * @brief Retrieve data_ member value. * -* @return pointer to the first element +* @return pointer to the first element * of class member data_ */ const uint8_t* can_message_t::get_data() const @@ -119,7 +118,7 @@ bool can_message_t::is_correct_to_send() /** * @brief Set format_ member value. * -* Preferred way to initialize these members by using +* Preferred way to initialize these members by using * convert_from_canfd_frame method. * * @param[in] new_format - class member @@ -137,94 +136,100 @@ void can_message_t::set_format(const can_message_format_t new_format) * * This is the preferred way to initialize class members. * -* @param[in] args - struct read from can bus device. +* @param[in] frame - canfd_frame to convert coming from a read of CAN socket +* @param[in] nbyte - bytes read from socket read operation. +* +* @return A can_message_t object fully initialized with canfd_frame values. */ -can_message_t can_message_t::convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes) +can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes) { - switch(nbytes) + uint8_t maxdlen, length, flags = (uint8_t)NULL; + uint32_t id; + can_message_format_t format; + bool rtr_flag; + std::vector data; + + switch(nbytes) { case CANFD_MTU: DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame"); - maxdlen_ = CANFD_MAX_DLEN; + maxdlen = CANFD_MAX_DLEN; break; case CAN_MTU: DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame"); - maxdlen_ = CAN_MAX_DLEN; + maxdlen = CAN_MAX_DLEN; break; default: ERROR(binder_interface, "set_max_data_length: unsupported CAN frame"); break; } - if(rtr_flag_) - length_ = frame.len& 0xF; - else - { - length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len; - } - if (frame.can_id & CAN_ERR_FLAG) - format_ = can_message_format_t::ERROR; + format = can_message_format_t::ERROR; else if (frame.can_id & CAN_EFF_FLAG) - format_ = can_message_format_t::EXTENDED; + format = can_message_format_t::EXTENDED; else - format_ = can_message_format_t::STANDARD; + format = can_message_format_t::STANDARD; - switch(format_) + switch(format) { case can_message_format_t::STANDARD: - id_ = frame.can_id & CAN_SFF_MASK; + id = frame.can_id & CAN_SFF_MASK; break; case can_message_format_t::EXTENDED: - id_ = frame.can_id & CAN_EFF_MASK; + id = frame.can_id & CAN_EFF_MASK; break; case can_message_format_t::ERROR: - id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); break; default: ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id."); break; } - - /* Overwrite lenght_ if RTR flags is detected. + + /* Overwrite length_ if RTR flags is detected. * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */ if (frame.can_id & CAN_RTR_FLAG) { - rtr_flag_ = true; + rtr_flag = true; if(frame.len && frame.len <= CAN_MAX_DLC) { - if(rtr_flag_) - length_ = frame.len& 0xF; - else - { - length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len; - } + if(rtr_flag) + length = frame.len& 0xF; + else + { + length = (frame.len > maxdlen) ? maxdlen : frame.len; + } } } else { - /* Flags field only present for CAN FD frames*/ - if(maxdlen_ == CANFD_MAX_DLEN) - flags_ = frame.flags & 0xF; - - if (data_.capacity() < maxdlen_) - data_.reserve(maxdlen_); - int i; + length = (frame.len > maxdlen) ? maxdlen : frame.len; - data_.clear(); - /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/ - for(i=0;i