diff options
Diffstat (limited to 'low-can-binding/can/message')
| -rw-r--r-- | low-can-binding/can/message/can-message.cpp | 22 | ||||
| -rw-r--r-- | low-can-binding/can/message/can-message.hpp | 3 | ||||
| -rw-r--r-- | low-can-binding/can/message/j1939-message.cpp | 18 | ||||
| -rw-r--r-- | low-can-binding/can/message/j1939-message.hpp | 4 | ||||
| -rw-r--r-- | low-can-binding/can/message/message.cpp | 26 | ||||
| -rw-r--r-- | low-can-binding/can/message/message.hpp | 23 |
6 files changed, 36 insertions, 60 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 diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp index 75e65c67..769899ea 100644 --- a/low-can-binding/can/message/can-message.hpp +++ b/low-can-binding/can/message/can-message.hpp @@ -39,8 +39,7 @@ class can_message_t : public message_t { public: 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); - + can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, bool rtr_flag_, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp); uint32_t get_id() const; static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp); diff --git a/low-can-binding/can/message/j1939-message.cpp b/low-can-binding/can/message/j1939-message.cpp index 2d600a1e..ec65cba4 100644 --- a/low-can-binding/can/message/j1939-message.cpp +++ b/low-can-binding/can/message/j1939-message.cpp @@ -45,13 +45,12 @@ j1939_message_t::j1939_message_t(): * @param addr The address of the message */ j1939_message_t::j1939_message_t(uint32_t length, - message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr): - message_t(J1939_MAX_DLEN,length, format, data, timestamp, 0), + message_t(J1939_MAX_DLEN, length, J1939_PROTOCOL, data, timestamp), name_{name}, pgn_{pgn}, addr_{addr} @@ -99,18 +98,13 @@ std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct socka { int i; uint32_t length = 0; - message_format_t format; + uint32_t flags; std::vector<uint8_t> data_vector; if(nbytes > J1939_MAX_DLEN) { AFB_DEBUG("Unsupported j1939 frame"); - format = message_format_t::INVALID; - } - else - { - //AFB_DEBUG("Got a j1939 frame"); - format = message_format_t::J1939; + return std::make_shared<j1939_message_t>(j1939_message_t()); } length = (uint32_t) nbytes; @@ -126,10 +120,10 @@ std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct socka data_vector.push_back(data[i]); }; - AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %s", - addr.can_addr.j1939.pgn, (uint8_t)format, length, data_string.c_str()); + AFB_DEBUG("Found pgn: %X, length: %X, data %s", + addr.can_addr.j1939.pgn, length, data_string.c_str()); - return std::make_shared<j1939_message_t>(j1939_message_t(J1939_MAX_DLEN,length, format, data_vector, timestamp,addr.can_addr.j1939.name,addr.can_addr.j1939.pgn,addr.can_addr.j1939.addr)); + return std::make_shared<j1939_message_t>(j1939_message_t(length, data_vector, timestamp,addr.can_addr.j1939.name,addr.can_addr.j1939.pgn,addr.can_addr.j1939.addr)); } /// @brief Test if members pgn_ and length are set. diff --git a/low-can-binding/can/message/j1939-message.hpp b/low-can-binding/can/message/j1939-message.hpp index 0d3736f1..9e9cea4a 100644 --- a/low-can-binding/can/message/j1939-message.hpp +++ b/low-can-binding/can/message/j1939-message.hpp @@ -67,7 +67,7 @@ class j1939_message_t : public message_t public: j1939_message_t(); - j1939_message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr); + j1939_message_t(uint32_t length, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr); uint64_t get_name() const; uint32_t get_pgn() const; uint8_t get_addr() const; @@ -78,4 +78,4 @@ class j1939_message_t : public message_t struct sockaddr_can get_sockname(); void set_sockname(struct sockaddr_can sockname); void set_sockname(pgn_t pgn, name_t name, uint8_t addr); -}; +};
\ No newline at end of file diff --git a/low-can-binding/can/message/message.cpp b/low-can-binding/can/message/message.cpp index 497304de..aaab99f5 100644 --- a/low-can-binding/can/message/message.cpp +++ b/low-can-binding/can/message/message.cpp @@ -28,10 +28,9 @@ message_t::message_t() : maxdlen_{0}, length_{0}, - format_{message_format_t::INVALID}, + flags_{INVALID_FLAG}, timestamp_{0}, - sub_id_{-1}, - flags_{0} + sub_id_{-1} {} /** @@ -45,17 +44,15 @@ message_t::message_t() */ message_t::message_t(uint32_t maxdlen, uint32_t length, - message_format_t format, + uint32_t flags, std::vector<uint8_t>& data, - uint64_t timestamp, - uint32_t flags) + uint64_t timestamp) : maxdlen_{maxdlen}, length_{length}, - format_{format}, + flags_{flags}, data_{data}, timestamp_{timestamp}, - sub_id_{-1}, - flags_{flags} + sub_id_{-1} {} /** @@ -163,17 +160,6 @@ uint64_t message_t::get_timestamp() const return timestamp_; } -/** - * @brief Return the format of the message - * - * @return message_format_t The message format - */ -message_format_t message_t::get_msg_format() -{ - return format_; -} - - uint32_t message_t::get_flags() { return flags_; diff --git a/low-can-binding/can/message/message.hpp b/low-can-binding/can/message/message.hpp index 2182fe5b..6cef0185 100644 --- a/low-can-binding/can/message/message.hpp +++ b/low-can-binding/can/message/message.hpp @@ -32,16 +32,17 @@ /** - * @enum message_format_t - * @brief The ID format for a CAN message. + * FLAGS */ -enum class message_format_t { - STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */ - EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ - J1939, ///< J1939 - Format for j1939 messages - INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/ -}; +#define INVALID_FLAG 0x0001 +#define STANDARD_ID 0x0002 +#define EXTENDED_ID 0x0004 +#define BCM_PROTOCOL 0x0008 +#define J1939_PROTOCOL 0x0010 +#define J1939_ADDR_CLAIM_PROTOCOL 0x0020 +#define ISOTP_PROTOCOL 0x0040 +#define FD_FRAME 0x0800 /// @class message_t /// @@ -51,15 +52,14 @@ class message_t { protected: uint32_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/ uint32_t length_; ///< length_ - the length of the data array. */ - message_format_t format_; ///< format_ - the format of the message's ID.*/ + uint32_t flags_; ///< format_ - the format mask of the message*/ std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/ int sub_id_; ///< sub_id_ - Subscription index. */ - uint32_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ public: message_t(); - message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, uint32_t flags); + message_t(uint32_t maxdlen, uint32_t length, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp); virtual ~message_t() = default; int get_sub_id() const; @@ -72,7 +72,6 @@ public: void set_data(std::vector<uint8_t> &data); void set_sub_id(int sub_id); void set_timestamp(uint64_t timestamp); - message_format_t get_msg_format(); virtual bool is_set() = 0; virtual std::string get_debug_message() = 0; virtual uint32_t get_id() const = 0; |