From aeeb786722b5cdeabff5568b40f7075dc23140b9 Mon Sep 17 00:00:00 2001
From: Romain Forlot <romain.forlot@iot.bzh>
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 <arthur.guyader@iot.bzh>
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
---
 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_SIZE;i++)
+		for(i=0;i<length_;i++)
 			if(data_[i] != 0)
 				return true;
 	}
@@ -184,6 +184,68 @@ struct canfd_frame can_message_t::convert_to_canfd_frame()
 	return 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();
-- 
cgit 1.2.3-korg