Fix: method to allocate a new can_message_t object

from a canfd_frame. A new constructor added ad-hoc.

Change-Id: Id6b909666105da0c4885351db9291aa430d138f0
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp
index 1be0d2d..cf57876 100644 (file)
--- a/src/can/can-message.cpp
+++ b/src/can/can-message.cpp
@@ -32,7 +32,11 @@
 * 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<uint8_t> data)
+       :  maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}, data_{data}
 {}
 
 /**
@@ -141,86 +145,92 @@ void can_message_t::set_format(const can_message_format_t new_format)
 */
 can_message_t can_message_t::convert_to_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<uint8_t> 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;
+       if(rtr_flag)
+               length = frame.len& 0xF;
        else
-       {
-               length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len;
-       }
-       
+               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;
-               
-       switch(format_)
+               format = can_message_format_t::STANDARD;
+
+       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;
+               /* Flags field only present for CAN FD frames*/
+               if(maxdlen == CANFD_MAX_DLEN)
+                               flags = frame.flags & 0xF;
 
-               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]);
-               };
-  
-       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]);
+               if (data.capacity() < maxdlen)
+                       data.reserve(maxdlen);
+                               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(frame.data[i]);
+                       };
+
+               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);
 }
 
 /**
@@ -242,7 +252,7 @@ canfd_frame can_message_t::convert_to_canfd_frame()
        }
        else
                ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
-       
+
        return frame;
 }
 
@@ -253,11 +263,10 @@ canfd_frame can_message_t::convert_to_canfd_frame()
 *********************************************************************************/
 
 can_message_definition_t::can_message_definition_t()
-  : last_value_(CAN_MESSAGE_SIZE)
+       : last_value_(CAN_MESSAGE_SIZE)
 {}
 
-uint32_t get_id() const
+uint32_t can_message_definition_t::get_id() const
 {
-  return id_;
-}
+       return id_;
 }

diff --git a/src/can/can-message.hpp b/src/can/can-message.hpp
index bdba07b..0494f5f 100644 (file)
--- a/src/can/can-message.hpp
+++ b/src/can/can-message.hpp
@@ -45,32 +45,32 @@ enum class can_message_format_t {
  * buffers.
  */
 class can_message_t {
-       private:
-               uint32_t id_; /*!< id_ - The ID of the message. */
-               bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
-               uint8_t length_; /*!< length_ - the length of the data array (max 8). */
-               uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
-               can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
-               std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+private:
+       uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+       uint32_t id_; /*!< id_ - The ID of the message. */
+       uint8_t length_; /*!< length_ - the length of the data array (max 8). */
+       can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
+       bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
+       uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
+       std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
 
-               uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+public:
+       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);
 
-       public:
-               can_message_t();
-
-               uint32_t get_id() const;
-               bool get_rtr_flag_() const;
-               can_message_format_t get_format() const;
-               uint8_t get_flags() const;
-               const uint8_t* get_data() const;
-               uint8_t get_length() const;
+       uint32_t get_id() const;
+       bool get_rtr_flag_() const;
+       can_message_format_t get_format() const;
+       uint8_t get_flags() const;
+       const uint8_t* get_data() const;
+       uint8_t get_length() const;
 
-               void set_format(const can_message_format_t new_format);
+       void set_format(const can_message_format_t new_format);
 
-               bool is_correct_to_send();
+       bool is_correct_to_send();
 
-    static can_message_t convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
-               canfd_frame convert_to_canfd_frame();
+static can_message_t convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
+       canfd_frame convert_to_canfd_frame();
 };
 
 /**