X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan%2Fcan-message.cpp;h=6b40d912435e764ff30130770c476a107f26bd80;hb=53cd923a034162273fea2f4fb045b28686f51df5;hp=ad0320212c757548761ca42727121f5aa4d91597;hpb=de8fb10e1d8e98a85dfba6fc8966266dbf5e42c6;p=apps%2Flow-level-can-service.git

diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp
index ad03202..6b40d91 100644
--- a/src/can/can-message.cpp
+++ b/src/can/can-message.cpp
@@ -19,26 +19,25 @@
 
 #include <cstring>
 
-#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_{CanMessageFormat::ERROR}
+	: 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<uint8_t> data)
+	:  maxdlen_{maxdlen}, id_{id}, length_{length}, format_{format}, rtr_flag_{rtr_flag}, flags_{flags}, data_{data}
 {}
 
 /**
 * @brief Retrieve id_ member value.
 *
-* @return uint32_t id_ class member
+* @return id_ class member
 */
 uint32_t can_message_t::get_id() const
 {
@@ -48,7 +47,7 @@ uint32_t can_message_t::get_id() const
 /**
 * @brief Retrieve RTR flag member.
 *
-* @return bool rtr_flags_ class member
+* @return rtr_flags_ class member
 */
 bool can_message_t::get_rtr_flag_() const
 {
@@ -58,19 +57,19 @@ bool can_message_t::get_rtr_flag_() const
 /**
 * @brief Retrieve format_ member value.
 *
-* @return CanMessageFormat format_ class member
+* @return format_ class member
 */
-int can_message_t::get_format() const
+can_message_format_t can_message_t::get_format() const
 {
-	if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
-		return CanMessageFormat::ERROR;
+	if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
+		return can_message_format_t::ERROR;
 	return format_;
 }
 
 /**
-* @brief Retrieve format_ member value.
+* @brief Retrieve flags_ member value.
 *
-* @return CanMessageFormat format_ 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 uint8_t data_ pointer to the first element 
+* @return pointer to the first element
 *  of class member data_
 */
 const uint8_t* can_message_t::get_data() const
@@ -91,42 +90,22 @@ const uint8_t* can_message_t::get_data() const
 /**
 * @brief Retrieve length_ member value.
 *
-* @return uint8_t length_ class member
+* @return length_ class member
 */
 uint8_t can_message_t::get_length() const
 {
 	return length_;
 }
 
-void can_message_t::set_max_data_length(size_t nbytes)
-{
-	maxdlen_ = 0;
-
-	switch(nbytes)
-	{
-		case CANFD_MTU:
-			DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
-			maxdlen_ = CANFD_MAX_DLEN;
-			break;
-		case CAN_MTU:
-			DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
-			maxdlen_ = CAN_MAX_DLEN;
-			break;
-		default:
-			ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
-			break;
-	}
-}
-
 /**
 * @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...
+* @return true if object correctly initialized and false if not.
 */
 bool can_message_t::is_correct_to_send()
 {
-	if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
+	if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::ERROR)
 	{
 		int i;
 		for(i=0;i<CAN_MESSAGE_SIZE;i++)
@@ -136,160 +115,121 @@ bool can_message_t::is_correct_to_send()
 	return false;
 }
 
-/**
-* @brief Set id_ member value.
-*
-* Preferred way to initialize these members by using 
-* convert_from_canfd_frame method.
-*
-* @param uint32_t id_ class member
-*/
-void can_message_t::set_id_and_format(const uint32_t new_id)
-{
-	set_format(new_id);
-	switch(format_)
-	{
-		case CanMessageFormat::STANDARD:
-			id_ = new_id & CAN_SFF_MASK;
-			break;
-		case CanMessageFormat::EXTENDED:
-			id_ = new_id & CAN_EFF_MASK;
-			break;
-		case CanMessageFormat::ERROR:
-			id_ = new_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;
-	}
-}
-
 /**
 * @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 CanMessageFormat format_ class member
+* @param[in] new_format - class member
 */
-void can_message_t::set_format(const CanMessageFormat new_format)
+void can_message_t::set_format(const can_message_format_t new_format)
 {
-	if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED || new_format == CanMessageFormat::ERROR)
+	if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR)
 		format_ = new_format;
 	else
 		ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
 }
 
 /**
-* @brief Set format_ member value. Deducing from the can_id
-*  of a canfd_frame.
-*
-* Preferred way to initialize these members by using 
-* convert_from_canfd_frame method.
+* @brief Take a canfd_frame struct to initialize class members
 *
-* @param uint32_t can_id integer from a canfd_frame
-*/
-void can_message_t::set_format(const uint32_t can_id)
-{
-	if (can_id & CAN_ERR_FLAG)
-		format_ = CanMessageFormat::ERROR;
-	else if (can_id & CAN_EFF_FLAG)
-		format_ = CanMessageFormat::EXTENDED;
-	else
-		format_ = CanMessageFormat::STANDARD;
-}
-
-/**
-* @brief Set format_ member value.
+* This is the preferred way to initialize class members.
 *
-* Preferred way to initialize these members by using 
-* convert_from_canfd_frame method.
+* @param[in] frame - canfd_frame to convert coming from a read of CAN socket
+* @param[in] nbyte - bytes read from socket read operation.
 *
-* @param CanMessageFormat format_ class member
+* @return A can_message_t object fully initialized with canfd_frame values.
 */
-void can_message_t::set_flags(const uint8_t flags)
+can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
 {
-	flags_ = flags & 0xF;
-}
+	uint8_t maxdlen, length, flags = (uint8_t)NULL;
+	uint32_t id;
+	can_message_format_t format;
+	bool rtr_flag;
+	std::vector<uint8_t> data;
 
-/**
-* @brief Set length_ member value.
-*
-* Preferred way to initialize these members by using 
-* convert_from_canfd_frame method.
-*
-* @param uint8_t length_ array with a max size of 8 elements.
-*/
-void can_message_t::set_length(const uint8_t new_length)
-{
-	if(rtr_flag_)
-		length_ = new_length & 0xF;
-	else
+	switch(nbytes)
 	{
-		length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
+		case CANFD_MTU:
+			DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
+			maxdlen = CANFD_MAX_DLEN;
+			break;
+		case CAN_MTU:
+			DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
+			maxdlen = CAN_MAX_DLEN;
+			break;
+		default:
+			ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
+			break;
 	}
-}
-
-/**
-* @brief Set data_ member value.
-*
-* Preferred way to initialize these members by using 
-* convert_from_canfd_frame method.
-*
-* @param uint8_t data_ array with a max size of 8 elements.
-*/
-void can_message_t::set_data(const __u8* new_data)
-{
-		int i;
-
-		data_.clear();
-		/* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
-		for(i=0;i<maxdlen_;i++)
-		{
-			data_.push_back(new_data[i]);
-		}
-}
 
-/**
-* @brief Take a canfd_frame struct to initialize class members
-*
-* This is the preferred way to initialize class members.
-*
-* @param canfd_frame struct read from can bus device.
-*/
-void can_message_t::convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args)
-{
-	// May be it's overkill to assign member of the pair... May be it will change...
-	struct canfd_frame frame = args.first;
-	size_t nbytes = args.second;
-	set_max_data_length(nbytes);
-	set_length(frame.len);
-	set_id_and_format(frame.can_id);
+	if (frame.can_id & CAN_ERR_FLAG)
+		format = can_message_format_t::ERROR;
+	else if (frame.can_id & CAN_EFF_FLAG)
+		format = can_message_format_t::EXTENDED;
+	else
+		format = can_message_format_t::STANDARD;
+		
+	switch(format)
+	{
+		case can_message_format_t::STANDARD:
+			id = frame.can_id & CAN_SFF_MASK;
+			break;
+		case can_message_format_t::EXTENDED:
+			id = frame.can_id & CAN_EFF_MASK;
+			break;
+		case can_message_format_t::ERROR:
+			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)
-			set_length(frame.len);
-		return;
+		{
+			if(rtr_flag)
+				length = frame.len& 0xF;
+			else
+			{
+				length = (frame.len > maxdlen) ? maxdlen : frame.len;
+			}
+		}
 	}
+	else
+	{
+		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 (data.capacity() < maxdlen)
+			data.reserve(maxdlen);
+				int i;
 
-	/* Flags field only present for CAN FD frames*/
-	if(maxdlen_ == CANFD_MAX_DLEN)
-		set_flags(frame.flags);
+			data.clear();
+			/* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
+			for(i=0;i<maxdlen;i++)
+			{
+				data.push_back(frame.data[i]);
+			};
 
-	if ( data_.capacity() < maxdlen_)
-		data_.reserve(maxdlen_);
-	set_data(frame.data);
+		DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+								id, format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+	}
 
-	DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", id_, format_, length_,
-							data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
+	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data);
 }
 
 /**
-* @brief Take all initialized class's members and build an 
+* @brief Take all initialized class's members and build an
 * canfd_frame struct that can be use to send a CAN message over
 * the bus.
 *
@@ -307,7 +247,6 @@ canfd_frame can_message_t::convert_to_canfd_frame()
 	}
 	else
 		ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
-	
+
 	return frame;
 }
-