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-rw-r--r--src/can/can-message.cpp208
-rw-r--r--src/can/can-message.hpp25
2 files changed, 80 insertions, 153 deletions
diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp
index 68279e2d..eec19d9b 100644
--- a/src/can/can-message.cpp
+++ b/src/can/can-message.cpp
@@ -32,7 +32,7 @@
* Constructor about can_message_t class.
*/
can_message_t::can_message_t()
- : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}
+ : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}, maxdlen_{0}
{}
/**
@@ -98,26 +98,6 @@ 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
@@ -137,34 +117,6 @@ bool can_message_t::is_correct_to_send()
}
/**
-* @brief Set id_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param[in] 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
@@ -181,111 +133,94 @@ void can_message_t::set_format(const CanMessageFormat new_format)
}
/**
-* @brief Set format_ member value. Deduced from the can_id
-* of a canfd_frame.
+* @brief Take a canfd_frame struct to initialize class members
*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
+* This is the preferred way to initialize class members.
*
-* @param[in] can_id - integer from a canfd_frame
+* @param[in] args - struct read from can bus device.
*/
-void can_message_t::set_format(const uint32_t can_id)
+can_message_t can_message_t::convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
{
- if (can_id & CAN_ERR_FLAG)
+ 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;
+ }
+
+ if(rtr_flag_)
+ length_ = frame.len& 0xF;
+ else
+ {
+ length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len;
+ }
+
+ if (frame.can_id & CAN_ERR_FLAG)
format_ = CanMessageFormat::ERROR;
- else if (can_id & CAN_EFF_FLAG)
+ else if (frame.can_id & CAN_EFF_FLAG)
format_ = CanMessageFormat::EXTENDED;
else
format_ = CanMessageFormat::STANDARD;
-}
-
-/**
-* @brief Set format_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param[in] format_ - class member
-*/
-void can_message_t::set_flags(const uint8_t flags)
-{
- flags_ = flags & 0xF;
-}
-
-/**
-* @brief Set length_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param[in] new_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(format_)
{
- length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
+ case CanMessageFormat::STANDARD:
+ id_ = frame.can_id & CAN_SFF_MASK;
+ break;
+ case CanMessageFormat::EXTENDED:
+ id_ = frame.can_id & CAN_EFF_MASK;
+ break;
+ case CanMessageFormat::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;
}
-}
-
-/**
-* @brief Set data_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param[in] new_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[in] args - 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);
-
+
/* Overwrite lenght_ 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.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
+ {
+ /* 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);
-
- 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]);
+ 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]);
+ }
}
/**
@@ -310,4 +245,3 @@ canfd_frame can_message_t::convert_to_canfd_frame()
return frame;
}
-
diff --git a/src/can/can-message.hpp b/src/can/can-message.hpp
index b88a1770..5d796cdc 100644
--- a/src/can/can-message.hpp
+++ b/src/can/can-message.hpp
@@ -31,19 +31,11 @@
* @enum CanMessageFormat
* @brief The ID format for a CAN message.
*/
-enum CanMessageFormat {
+class enum CanMessageFormat {
STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
};
-typedef enum CanMessageFormat CanMessageFormat;
-
-/**
- * @class can_message_t
- *
- * @brief A compact representation of a single CAN message, meant to be used in in/out
- * buffers.
- */
/*************************
* old CanMessage struct *
@@ -56,6 +48,13 @@ struct CanMessage {
};
typedef struct CanMessage CanMessage;
*/
+
+/**
+ * @class can_message_t
+ *
+ * @brief A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ */
class can_message_t {
private:
uint32_t id_; /*!< id_ - The ID of the message. */
@@ -77,17 +76,11 @@ class can_message_t {
const uint8_t* get_data() const;
uint8_t get_length() const;
- void set_max_data_length(size_t nbytes);
- void set_id_and_format(const uint32_t new_id);
void set_format(const CanMessageFormat new_format);
- void set_format(const uint32_t can_id);
- void set_flags(const uint8_t flags);
- void set_data(const __u8* new_data);
- void set_length(const uint8_t new_length);
bool is_correct_to_send();
- void convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args);
+ static can_message_t convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
canfd_frame convert_to_canfd_frame();
};