diff options
Diffstat (limited to 'src/can-message.cpp')
| -rw-r--r-- | src/can-message.cpp | 106 |
1 files changed, 105 insertions, 1 deletions
diff --git a/src/can-message.cpp b/src/can-message.cpp index 5d01880b..ad032021 100644 --- a/src/can-message.cpp +++ b/src/can-message.cpp @@ -26,21 +26,40 @@ * CanMessage method implementation * *********************************************************************************/ - +/** +* @brief Class constructor +* +* Constructor about can_message_t class. +*/ can_message_t::can_message_t() : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR} {} +/** +* @brief Retrieve id_ member value. +* +* @return uint32_t id_ class member +*/ uint32_t can_message_t::get_id() const { return id_; } +/** +* @brief Retrieve RTR flag member. +* +* @return bool rtr_flags_ class member +*/ bool can_message_t::get_rtr_flag_() const { return rtr_flag_; } +/** +* @brief Retrieve format_ member value. +* +* @return CanMessageFormat format_ class member +*/ int can_message_t::get_format() const { if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED) @@ -48,16 +67,32 @@ int can_message_t::get_format() const return format_; } +/** +* @brief Retrieve format_ member value. +* +* @return CanMessageFormat format_ class member +*/ uint8_t can_message_t::get_flags() const { return flags_; } +/** +* @brief Retrieve data_ member value. +* +* @return uint8_t data_ pointer to the first element +* of class member data_ +*/ const uint8_t* can_message_t::get_data() const { return data_.data(); } +/** +* @brief Retrieve length_ member value. +* +* @return uint8_t length_ class member +*/ uint8_t can_message_t::get_length() const { return length_; @@ -83,6 +118,12 @@ void can_message_t::set_max_data_length(size_t nbytes) } } +/** +* @brief Control whether the object is correctly initialized +* to be sent over the CAN bus +* +* @return true if object correctly initialized and false if not... +*/ bool can_message_t::is_correct_to_send() { if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR) @@ -95,6 +136,14 @@ bool can_message_t::is_correct_to_send() return false; } +/** +* @brief Set id_ member value. +* +* Preferred way to initialize these members by using +* convert_from_canfd_frame method. +* +* @param uint32_t id_ class member +*/ void can_message_t::set_id_and_format(const uint32_t new_id) { set_format(new_id); @@ -115,6 +164,14 @@ void can_message_t::set_id_and_format(const uint32_t new_id) } } +/** +* @brief Set format_ member value. +* +* Preferred way to initialize these members by using +* convert_from_canfd_frame method. +* +* @param CanMessageFormat format_ class member +*/ void can_message_t::set_format(const CanMessageFormat new_format) { if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED || new_format == CanMessageFormat::ERROR) @@ -123,6 +180,15 @@ void can_message_t::set_format(const CanMessageFormat new_format) ERROR(binder_interface, "ERROR: Can set format, wrong format chosen"); } +/** +* @brief Set format_ member value. Deducing from the can_id +* of a canfd_frame. +* +* Preferred way to initialize these members by using +* convert_from_canfd_frame method. +* +* @param uint32_t can_id integer from a canfd_frame +*/ void can_message_t::set_format(const uint32_t can_id) { if (can_id & CAN_ERR_FLAG) @@ -133,11 +199,27 @@ void can_message_t::set_format(const uint32_t can_id) format_ = CanMessageFormat::STANDARD; } +/** +* @brief Set format_ member value. +* +* Preferred way to initialize these members by using +* convert_from_canfd_frame method. +* +* @param CanMessageFormat 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 uint8_t length_ array with a max size of 8 elements. +*/ void can_message_t::set_length(const uint8_t new_length) { if(rtr_flag_) @@ -148,6 +230,14 @@ void can_message_t::set_length(const uint8_t new_length) } } +/** +* @brief Set data_ member value. +* +* Preferred way to initialize these members by using +* convert_from_canfd_frame method. +* +* @param uint8_t data_ array with a max size of 8 elements. +*/ void can_message_t::set_data(const __u8* new_data) { int i; @@ -160,6 +250,13 @@ void can_message_t::set_data(const __u8* new_data) } } +/** +* @brief Take a canfd_frame struct to initialize class members +* +* This is the preferred way to initialize class members. +* +* @param canfd_frame 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... @@ -191,6 +288,13 @@ void can_message_t::convert_from_canfd_frame(const std::pair<struct canfd_frame& data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]); } +/** +* @brief Take all initialized class's members and build an +* canfd_frame struct that can be use to send a CAN message over +* the bus. +* +* @return canfd_frame struct built from class members. +*/ canfd_frame can_message_t::convert_to_canfd_frame() { canfd_frame frame; |