diff options
Diffstat (limited to 'low-can-binding/can/message/can-message.cpp')
| -rw-r--r-- | low-can-binding/can/message/can-message.cpp | 22 |
1 files changed, 10 insertions, 12 deletions
diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp index 8a04992e..0ef693c7 100644 --- a/low-can-binding/can/message/can-message.cpp +++ b/low-can-binding/can/message/can-message.cpp @@ -35,12 +35,11 @@ can_message_t::can_message_t() can_message_t::can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, - message_format_t format, bool rtr_flag, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp) - : message_t(maxdlen, length, format, data, timestamp, flags), + : message_t(maxdlen, length, flags, data, timestamp), id_{id}, rtr_flag_{rtr_flag} {} @@ -62,7 +61,7 @@ uint32_t can_message_t::get_id() const /// @return True if object correctly initialized and false if not. bool can_message_t::is_correct_to_send() { - if (id_ != 0 && length_ != 0 && format_ != message_format_t::INVALID) + if (id_ != 0 && length_ != 0 && !(flags_&INVALID_FLAG)) { int i; for(i=0;i<length_;i++) @@ -83,9 +82,8 @@ bool can_message_t::is_correct_to_send() std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) { uint32_t maxdlen = 0, length = 0; - uint8_t flags = 0; + uint32_t flags = 0; uint32_t id; - message_format_t format; bool rtr_flag; std::vector<uint8_t> data; @@ -106,17 +104,17 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca if (frame.can_id & CAN_ERR_FLAG) { - format = message_format_t::INVALID; + flags = flags|INVALID_FLAG; id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); } else if (frame.can_id & CAN_EFF_FLAG) { - format = message_format_t::EXTENDED; + flags = flags|EXTENDED_ID; id = frame.can_id & CAN_EFF_MASK; } else { - format = message_format_t::STANDARD; + flags = flags|STANDARD_ID; id = frame.can_id & CAN_SFF_MASK; } @@ -140,8 +138,8 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca 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(maxdlen == CANFD_MAX_DLEN) + flags = frame.flags & 0xF;*/ if (data.capacity() < maxdlen) data.reserve(maxdlen); @@ -155,10 +153,10 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca }; AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", - id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); + id, (uint32_t)flags, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); } - return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp)); + return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, rtr_flag, flags, data, timestamp)); } /// @brief Take all initialized class members and build a |