diff options
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 2 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.cpp | 56 |
2 files changed, 46 insertions, 12 deletions
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index 737a851a..f3fe7c83 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -606,7 +606,7 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj "can_dlc", &length, "can_data", &can_data)) { - message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0); + message = new can_message_t(0,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0); write_raw_frame(request,bus_name,message,can_data,socket_type::BCM); } #ifdef USE_FEATURE_J1939 diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp index bec3ad63..d4ada3fe 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -331,6 +331,7 @@ struct bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t c bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ; bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec; + return bcm_msg; } @@ -389,32 +390,65 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri struct timeval freq, timeout = {0, 0}; struct canfd_frame cfd; subscription.signal_= sig; + bool is_fd = sig->get_message()->is_fd(); + + std::vector<uint8_t> data; + uint32_t length_msg = sig->get_message()->get_length(); - if (sig->get_message()->is_fd()) + if(length_msg == 0) + { + AFB_ERROR("Error in the length of message with id %d",sig->get_message()->get_id()); + return -1; + } + + for(int i = 0; i<length_msg;i++) + { + data.push_back(0); + } + + encoder_t::encode_data(subscription.signal_,data,true,false,true); + + can_message_t cm; + + if (is_fd) { flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; cfd.len = CANFD_MAX_DLEN; + cm = can_message_t(CANFD_MAX_DLEN,sig->get_message()->get_id(),length_msg,sig->get_message()->get_format(),false,CAN_FD_FRAME,data,0); } else { flags = SETTIMER|RX_NO_AUTOTIMER; cfd.len = CAN_MAX_DLEN; + cm = can_message_t(CAN_MAX_DLEN,sig->get_message()->get_id(),length_msg,sig->get_message()->get_format(),false,0,data,0); } - val = (float)(1 << subscription.signal_->get_bit_size()) - 1; - if(! bitfield_encode_float(val, - subscription.signal_->get_bit_position(), - subscription.signal_->get_bit_size(), - 1, - subscription.signal_->get_offset(), - cfd.data, - cfd.len)) - return -1; frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency); freq = f.get_timeval_from_period(); struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags, timeout, freq); - subscription.add_one_bcm_frame(cfd, bcm_msg); + + std::vector<canfd_frame> cfd_vect = cm.convert_to_canfd_frame_vector(); + + if(cfd_vect.size() > 1) //multi + { + AFB_ERROR("Not implemented yet"); + return -1; + } + else if(cfd_vect.size() == 1) + { + canfd_frame cf = cfd_vect[0]; + for(int i=0;i<cfd.len;i++) + { + cfd.data[i] = cf.data[i]; + } + subscription.add_one_bcm_frame(cfd, bcm_msg); + } + else + { + AFB_ERROR("No data available"); + return -1; + } return create_rx_filter_bcm(subscription, bcm_msg); } |