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authorRomain Forlot <romain.forlot@iot.bzh>2017-02-28 12:00:43 +0100
committerRomain Forlot <romain.forlot@iot.bzh>2017-02-28 21:45:49 +0100
commitc009c3c329d30acfb6be3a8ed0671a9a07266546 (patch)
treee840446be82046d908d0e498d430fc8307c4c30e /src/can-message.cpp
parentd4c6484ca4f8d9eb8f97d7e0555e461f2831baa3 (diff)
Re-arranging objects splitting all objects over
separated files. Change-Id: Ifbdb2ea08704324e505a48ba3124df6f2af63c6b Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
Diffstat (limited to 'src/can-message.cpp')
-rw-r--r--src/can-message.cpp144
1 files changed, 144 insertions, 0 deletions
diff --git a/src/can-message.cpp b/src/can-message.cpp
new file mode 100644
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+++ b/src/can-message.cpp
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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;
+}
+