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/*
* Copyright (C) 2015, 2016 "IoT.bzh"
* Author "Romain Forlot" <romain.forlot@iot.bzh>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "can-message.hpp"
#include <cstring>
#include "low-can-binding.hpp"
/********************************************************************************
*
* CanMessage method implementation
*
*********************************************************************************/
can_message_t::can_message_t()
: id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
{}
uint32_t can_message_t::get_id() const
{
return id_;
}
int can_message_t::get_format() const
{
if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
return CanMessageFormat::ERROR;
return format_;
}
const uint8_t* can_message_t::get_data() const
{
return data_;
}
uint8_t can_message_t::get_length() const
{
return length_;
}
bool can_message_t::is_correct_to_send()
{
if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
{
int i;
for(i=0;i<CAN_MESSAGE_SIZE;i++)
if(data_[i] != 0)
return true;
}
return false;
}
void can_message_t::set_id(const uint32_t new_id)
{
switch(format_)
{
case CanMessageFormat::STANDARD:
id_ = new_id & CAN_SFF_MASK;
break;
case CanMessageFormat::EXTENDED:
id_ = new_id & CAN_EFF_MASK;
break;
default:
ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
break;
}
}
void can_message_t::set_format(const CanMessageFormat new_format)
{
if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
format_ = new_format;
else
ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
}
void can_message_t::set_data(const uint8_t new_data)
{
if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
ERROR(binder_interface, "Can set data, your data array is too big");
else
{
::memcpy(&data_, &new_data, sizeof(new_data));
length_ = sizeof(new_data);
}
}
void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
{
length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
if (frame.can_id & CAN_ERR_FLAG)
{
id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
format_ = CanMessageFormat::ERROR;
}
else if (frame.can_id & CAN_EFF_FLAG)
{
id_ = frame.can_id & CAN_EFF_MASK;
format_ = CanMessageFormat::EXTENDED;
}
else
{
id_ = frame.can_id & CAN_SFF_MASK;
format_ = CanMessageFormat::STANDARD;
}
if (sizeof(frame.data) <= sizeof(data_))
::memcpy(&data_, frame.data, length_);
else if (sizeof(frame.data) >= CAN_MAX_DLEN)
ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
}
canfd_frame can_message_t::convert_to_canfd_frame()
{
canfd_frame frame;
if(is_correct_to_send())
{
frame.can_id = get_id();
frame.len = get_length();
::memcpy(frame.data, get_data(), length_);
}
else
ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
return frame;
}
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