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authorRomain Forlot <romain.forlot@iot.bzh>2017-03-01 17:42:52 +0100
committerRomain Forlot <romain.forlot@iot.bzh>2017-03-01 17:42:52 +0100
commit937fe8e40aba5eb37c69fd5ff6bf4d800541a009 (patch)
treecd7b1d7919aacba6861ab63e98ed924531b00002
parent4f06114c79f804ed404d40ffad771cbacab0fe8b (diff)
New way to return canfd_frame with now number of read bytes.
This way, we can detect correctly the max data length and set the data correctly. Change-Id: I346df154df76dbd4a463d1fabfd9edd56faca506 Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
-rw-r--r--src/can-bus.cpp4
-rw-r--r--src/can-bus.hpp2
-rw-r--r--src/can-message.cpp35
-rw-r--r--src/can-message.hpp6
4 files changed, 23 insertions, 24 deletions
diff --git a/src/can-bus.cpp b/src/can-bus.cpp
index 6279a2a..631f609 100644
--- a/src/can-bus.cpp
+++ b/src/can-bus.cpp
@@ -355,7 +355,7 @@ int can_bus_dev_t::close()
return can_socket_;
}
-canfd_frame can_bus_dev_t::read()
+std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
{
ssize_t nbytes;
//int maxdlen;
@@ -379,7 +379,7 @@ canfd_frame can_bus_dev_t::read()
::memset(&cfd, 0, sizeof(cfd));
}
- return cfd;
+ return std::pair<struct canfd_frame&, size_t>(cfd, nbytes);
}
void can_bus_dev_t::start_reading(can_bus_t& can_bus)
diff --git a/src/can-bus.hpp b/src/can-bus.hpp
index 991bf62..b80b68d 100644
--- a/src/can-bus.hpp
+++ b/src/can-bus.hpp
@@ -270,7 +270,7 @@ class can_bus_dev_t {
* @param const struct afb_binding_interface* interface pointer. Used to be able to log
* using application framework logger.
*/
- canfd_frame read();
+ std::pair<struct canfd_frame&, size_t> read();
/**
* @brief Send a can message from a can_message_t object.
diff --git a/src/can-message.cpp b/src/can-message.cpp
index e273248..5a3e2c2 100644
--- a/src/can-message.cpp
+++ b/src/can-message.cpp
@@ -63,18 +63,18 @@ uint8_t can_message_t::get_length() const
return length_;
}
-void can_message_t::set_max_data_length(const struct canfd_frame& frame)
+void can_message_t::set_max_data_length(size_t nbytes)
{
maxdlen_ = 0;
- switch(sizeof(frame))
+ switch(nbytes)
{
case CANFD_MTU:
- DEBUG(binder_interface, "convert_from_canfd_frame: Got an CAN FD frame with length %d and flags %d", frame.len, frame.flags);
+ DEBUG(binder_interface, "convert_from_canfd_frame: Got an CAN FD frame");
maxdlen_ = CANFD_MAX_DLEN;
break;
case CAN_MTU:
- DEBUG(binder_interface, "convert_from_canfd_frame: Got a legacy CAN frame with length %d", frame.len);
+ DEBUG(binder_interface, "convert_from_canfd_frame: Got a legacy CAN frame");
maxdlen_ = CAN_MAX_DLEN;
break;
default:
@@ -148,28 +148,28 @@ void can_message_t::set_length(const uint8_t new_length)
}
}
-void can_message_t::set_data(const __u8 new_data[], size_t dlen)
+void can_message_t::set_data(const __u8* new_data)
{
- if (dlen > maxdlen_)
- ERROR(binder_interface, "Can set data, too big ! It is a CAN frame ?");
- else
- {
int i;
- /* Limiting to 8 bytes message for now, even on 64 bytes from fd frames*/
- for(i=0;i<CAN_MESSAGE_SIZE;i++)
+
+ /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
+ for(i=0;i<maxdlen_;i++)
{
data_.push_back(new_data[i]);
}
- }
}
-void can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame)
+void can_message_t::convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args)
{
- set_max_data_length(frame);
+ // May be it's overkill to assign member of the pair... May be it will change...
+ struct canfd_frame frame = args.first;
+ size_t nbytes = args.second;
+ set_max_data_length(nbytes);
set_length(frame.len);
set_id_and_format(frame.can_id);
- /* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+ /* Overwrite lenght_ if RTR flags is detected.
+ * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
if (frame.can_id & CAN_RTR_FLAG)
{
rtr_flag_ = true;
@@ -182,9 +182,8 @@ void can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame)
if(maxdlen_ == CANFD_MAX_DLEN)
set_flags(frame.flags);
- size_t dlen = sizeof(frame.data)/sizeof(__u8);
- data_.reserve(dlen);
- set_data(frame.data, dlen);
+ data_.reserve(maxdlen_);
+ set_data(frame.data);
DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", id_, format_, length_,
data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
diff --git a/src/can-message.hpp b/src/can-message.hpp
index 82e2e01..efae17f 100644
--- a/src/can-message.hpp
+++ b/src/can-message.hpp
@@ -117,7 +117,7 @@ class can_message_t {
*/
uint8_t get_length() const;
- void set_max_data_length(const struct canfd_frame& frame);
+ void set_max_data_length(size_t nbytes);
/**
* @brief Control whether the object is correctly initialized
@@ -176,7 +176,7 @@ class can_message_t {
*
* @param uint8_t data_ array with a max size of 8 elements.
*/
- void set_data(const __u8 new_data[], size_t dlen);
+ void set_data(const __u8* new_data);
/**
* @brief Set length_ member value.
@@ -195,7 +195,7 @@ class can_message_t {
*
* @param canfd_frame struct read from can bus device.
*/
- void convert_from_canfd_frame(const struct canfd_frame& frame);
+ void convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args);
/**
* @brief Take all initialized class's members and build an