Create method to handle both CAN frames.

Change-Id: Ie876614266fd2e7089754a8f917d25d316de4c98
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

Fix: wrong call since renaming of function to more generic name

Change-Id: I2adebb855bc815ba6ab14a1002b17d9c9fb293fd
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

3 files changed, 103 insertions, 21 deletions

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index 1837f491..4737d113 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -116,7 +116,7 @@ can_message_t can_bus_dev_t::read()
 
 	DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len,
 							cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
-	return can_message_t::convert_from_canfd_frame(cfd, nbytes);
+	return can_message_t::convert_from_frame(cfd, nbytes);
 }
 
 /// @brief Create a RX_SETUP receive job using the BCM socket.
diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp
index f27dce3f..3575348f 100644
--- a/CAN-binder/low-can-binding/can/can-message.cpp
+++ b/CAN-binder/low-can-binding/can/can-message.cpp
@@ -143,7 +143,6 @@ void can_message_t::set_format(const can_message_format_t new_format)
 		ERROR(binder_interface, "%s: Can set format, wrong format chosen", __FUNCTION__);
 }
 
-///
 /// @brief Take a canfd_frame struct to initialize class members
 ///
 /// This is the preferred way to initialize class members.
@@ -153,7 +152,7 @@ void can_message_t::set_format(const can_message_format_t new_format)
 ///
 /// @return A can_message_t object fully initialized with canfd_frame values.
 ///
-can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
+can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes)
 {
 	uint8_t maxdlen, length, flags = (uint8_t)NULL;
 	uint32_t id;
@@ -177,26 +176,19 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
 	}
 
 	if (frame.can_id & CAN_ERR_FLAG)
+	{
 		format = can_message_format_t::ERROR;
+		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+	}
 	else if (frame.can_id & CAN_EFF_FLAG)
+	{
 		format = can_message_format_t::EXTENDED;
+		id = frame.can_id & CAN_EFF_MASK;
+	}
 	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, "%s: Can set id, not a compatible format or format not set prior to set id.", __FUNCTION__);
-			break;
+		format = can_message_format_t::STANDARD;
+		id = frame.can_id & CAN_SFF_MASK;
 	}
 
 	/* Overwrite length_ if RTR flags is detected.
@@ -240,6 +232,77 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
 	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data);
 }
 
+can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t 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;
+
+	if(nbytes <= CAN_MTU)
+	{
+			DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__);
+			maxdlen = CAN_MAX_DLEN;
+	}
+	else
+	{
+			ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__);
+	}
+
+	if (frame.can_id & CAN_ERR_FLAG)
+	{
+		format = can_message_format_t::ERROR;
+		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+	}
+	else if (frame.can_id & CAN_EFF_FLAG)
+	{
+		format = can_message_format_t::EXTENDED;
+		id = frame.can_id & CAN_EFF_MASK;
+	}
+	else
+	{
+		format = can_message_format_t::STANDARD;
+		id = frame.can_id & CAN_SFF_MASK;
+	}
+
+	/* 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;
+		if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
+		{
+			if(rtr_flag)
+				length = frame.can_dlc& 0xF;
+			else
+			{
+				length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+			}
+		}
+	}
+	else
+	{
+		length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+
+		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, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__,
+//								id, (uint8_t)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
 /// canfd_frame struct that can be use to send a CAN message over
@@ -247,7 +310,7 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
 ///
 /// @return canfd_frame struct built from class members.
 ///
-canfd_frame can_message_t::convert_to_canfd_frame()
+struct canfd_frame can_message_t::convert_to_canfd_frame()
 {
 	canfd_frame frame;
 
@@ -262,3 +325,19 @@ canfd_frame can_message_t::convert_to_canfd_frame()
 
 	return frame;
 }
+
+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 = get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__);
+
+	return frame;
+}
diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp
index 5a6e6eb3..d38f7ba2 100644
--- a/CAN-binder/low-can-binding/can/can-message.hpp
+++ b/CAN-binder/low-can-binding/can/can-message.hpp
@@ -70,6 +70,9 @@ public:
 
 	bool is_correct_to_send();
 
-	static can_message_t convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
-	canfd_frame convert_to_canfd_frame();
+	static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes);
+	static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes);
+
+	struct canfd_frame convert_to_canfd_frame();
+	struct can_frame convert_to_can_frame();
 };