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-rw-r--r--low-can-binding/can/message/can-message.cpp64
-rw-r--r--low-can-binding/can/message/can-message.hpp1
2 files changed, 64 insertions, 1 deletions
diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp
index 90bade53..deca5c72 100644
--- a/low-can-binding/can/message/can-message.cpp
+++ b/low-can-binding/can/message/can-message.cpp
@@ -67,7 +67,7 @@ bool can_message_t::is_correct_to_send()
if (id_ != 0 && length_ != 0 && format_ != message_format_t::INVALID)
{
int i;
- for(i=0;i<CAN_MESSAGE_SIZE;i++)
+ for(i=0;i<length_;i++)
if(data_[i] != 0)
return true;
}
@@ -185,6 +185,68 @@ struct canfd_frame can_message_t::convert_to_canfd_frame()
}
/// @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 std::vector<canfd_frame> can_message_t::convert_to_canfd_frame_vector()
+{
+ std::vector<canfd_frame> ret;
+ if(is_correct_to_send())
+ {
+ if(flags_ & CAN_FD_FRAME)
+ {
+ int i=0;
+ do
+ {
+ canfd_frame frame;
+ frame.can_id = id_;
+ frame.len = 64;
+ std::vector<uint8_t> data = get_data_vector((i*64),(i*64)+63);
+ if(data.size()<64)
+ {
+ ::memset(frame.data,0,sizeof(frame.data));
+ ::memcpy(frame.data,data.data(),data.size());
+ }
+ else
+ {
+ ::memcpy(frame.data,data.data(),64);
+ }
+ ret.push_back(frame);
+ i++;
+ } while (i<(length_ >> 6));
+ }
+ else
+ {
+ int i=0;
+ do
+ {
+ canfd_frame frame;
+ frame.can_id = id_;
+ frame.len = 8;
+ std::vector<uint8_t> data = get_data_vector(i*8,(i*8)+7);
+ if(data.size()<8)
+ {
+ ::memset(frame.data,0,sizeof(frame.data));
+ ::memcpy(frame.data,data.data(),data.size());
+ }
+ else
+ {
+ ::memset(frame.data,0,sizeof(frame.data));
+ ::memcpy(frame.data,data.data(),8);
+ }
+ ret.push_back(frame);
+ i++;
+ } while (i<(length_ >> 3));
+ }
+ }
+ else
+ AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+ return ret;
+}
+
+/// @brief Take all initialized class members and build a
/// can_frame struct that can be use to send a CAN message over
/// the bus.
///
diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp
index 0f8bc9b5..9e75887f 100644
--- a/low-can-binding/can/message/can-message.hpp
+++ b/low-can-binding/can/message/can-message.hpp
@@ -46,6 +46,7 @@ class can_message_t : public message_t {
static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
struct canfd_frame convert_to_canfd_frame();
+ struct std::vector<canfd_frame> convert_to_canfd_frame_vector();
struct can_frame convert_to_can_frame();
bool is_correct_to_send();