From aeeb786722b5cdeabff5568b40f7075dc23140b9 Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Tue, 26 Nov 2019 16:19:11 +0100 Subject: Add function to convert vector to canfd or can frame. This commit allows to convert the data vector to canfd or can frame. In the two cases the struct is a canfd frame, but if the type is not fd, the max size of a frame is 8. Bug-AGL : SPEC-2779 Bug-AGL: SPEC-2976 Change-Id: I60edf6a602a47572d5e5bfb508c7ca6d8761832b Signed-off-by: Arthur Guyader Signed-off-by: Romain Forlot --- low-can-binding/can/message/can-message.cpp | 64 ++++++++++++++++++++++++++++- low-can-binding/can/message/can-message.hpp | 1 + 2 files changed, 64 insertions(+), 1 deletion(-) (limited to 'low-can-binding/can') 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_t::convert_to_canfd_frame_vector() +{ + std::vector 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 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 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 convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp); struct canfd_frame convert_to_canfd_frame(); + struct std::vector convert_to_canfd_frame_vector(); struct can_frame convert_to_can_frame(); bool is_correct_to_send(); -- cgit 1.2.3-korg