diff options
Diffstat (limited to 'low-can-binding/can/message/can-message.cpp')
| -rw-r--r-- | low-can-binding/can/message/can-message.cpp | 58 |
1 files changed, 51 insertions, 7 deletions
diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp index b012bbe5..945c0ba7 100644 --- a/low-can-binding/can/message/can-message.cpp +++ b/low-can-binding/can/message/can-message.cpp @@ -28,22 +28,20 @@ /// can_message_t::can_message_t() : message_t(), - maxdlen_{0}, id_{0}, rtr_flag_{false}, flags_{0} {} -can_message_t::can_message_t(uint8_t maxdlen, +can_message_t::can_message_t(uint32_t maxdlen, uint32_t id, - uint8_t length, + uint32_t length, message_format_t format, bool rtr_flag, - uint8_t flags, + uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp) - : message_t(length, format, data, timestamp), - maxdlen_{maxdlen}, + : message_t(maxdlen, length, format, data, timestamp), id_{id}, rtr_flag_{rtr_flag}, flags_{flags} @@ -86,7 +84,8 @@ bool can_message_t::is_correct_to_send() /// @return A can_message_t object fully initialized with canfd_frame values. std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) { - uint8_t maxdlen = 0, length = 0, flags = 0; + uint32_t maxdlen = 0, length = 0; + uint8_t flags = 0; uint32_t id; message_format_t format; bool rtr_flag; @@ -164,6 +163,47 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp)); } +/// @brief Take all initialized class members and build a +/// canfd_frame struct that can be use to send a CAN message over +/// the bus. +/// +/// @return canfd_frame struct built from class members. +struct canfd_frame can_message_t::convert_to_canfd_frame() +{ + canfd_frame frame; + + if(is_correct_to_send()) + { + frame.can_id = get_id(); + frame.len = (uint8_t) get_length(); + ::memcpy(frame.data, get_data(), length_); + } + else + AFB_ERROR("can_message_t not correctly initialized to be sent"); + + return frame; +} + +/// @brief Take all initialized class members and build a +/// can_frame struct that can be use to send a CAN message over +/// the bus. +/// +/// @return can_frame struct built from class members. +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 = (uint8_t) get_length(); + ::memcpy(frame.data, get_data(), length_); + } + else + AFB_ERROR("can_message_t not correctly initialized to be sent"); + + return frame; +} bool can_message_t::is_set() { @@ -192,3 +232,7 @@ void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg) bcm_msg_ = bcm_msg; } +uint32_t can_message_t::get_flags() +{ + return flags_; +}
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