diff options
| -rw-r--r-- | src/can-utils.cpp | 78 | ||||
| -rw-r--r-- | src/can-utils.h | 9 |
2 files changed, 44 insertions, 43 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index fde92f9..4646a34 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -23,7 +23,7 @@ * *********************************************************************************/ -can_bus_t::can_bus_t(afb_binding_interface *itf, const std:string& dev_name) +can_bus_t::can_bus_t(afb_binding_interface *itf, const std:string &dev_name) : interface{itf}, deviceName{dev_name} { } @@ -91,7 +91,7 @@ int can_bus_t::close() canfd_frame can_bus_t::can_read() { ssize_t nbytes; - int maxdlen; + //int maxdlen; canfd_frame canfd_frame; /* Test that socket is really opened */ @@ -107,11 +107,11 @@ canfd_frame can_bus_t::can_read() { case CANFD_MTU: DEBUG(interface_, "read_can: Got an CAN FD frame with length %d", canfd_frame.len); - maxdlen = CANFD_MAX_DLEN; + //maxdlen = CANFD_MAX_DLEN; break; case CAN_MTU: DEBUG(interface_, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len); - maxdlen = CAN_MAX_DLEN; + //maxdlen = CAN_MAX_DLEN; break; default: if (errno == ENETDOWN) @@ -222,26 +222,30 @@ void can_bus_t::insert_new_vehicle_message(openxc_VehicleMessage *v_msg) * *********************************************************************************/ +can_message_t::can_message_t(afb_binding_interface *itf) + : interface_{itf} +{} + uint32_t can_message_t::get_id() const { - return id; + (id_ != 0) ? return id_ : return 0; } int can_message_t::get_format() const { - return format; + (format_ != CanMessageFormat::SIMPLE || format_ != CanMessageFormat::EXTENDED) return -1 : return format_; } uint8_t can_message_t::get_data() const { - return data; + return data_; } uint8_t can_message_t::get_lenght() const { - return lenght; + return lenght_; } -void can_message_t::set_id(uint32_t new_id) +void can_message_t::set_id(uint32_t &new_id) { switch(format): case CanMessageFormat::SIMPLE: @@ -249,25 +253,21 @@ void can_message_t::set_id(uint32_t new_id) case CanMessageFormat::EXTENDED: id = new_id & CAN_EFF_MASK; default: - ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id."); + ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id."); } -void can_message_t::set_format(CanMessageFormat new_format) +void can_message_t::set_format(CanMessageFormat &new_format) { if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED) format = new_format; else - ERROR(interface, "ERROR: Can set format, wrong format chosen"); + ERROR(interface_, "ERROR: Can set format, wrong format chosen"); } -void can_message_t::set_data(uint8_t new_data) +void can_message_t::set_data(uint8_t &new_data) { - data = new_data; -} - -void can_message_t::set_lenght(uint8_t new_length) -{ - lenght = new_lenght; + ::memcpy(data_, new_data, new_data.size()); + lenght_ = new_data(size); } /* @@ -276,39 +276,39 @@ void can_message_t::set_lenght(uint8_t new_length) * * params: canfd_frame pointer */ -void can_message_t::convert_from_canfd_frame(canfd_frame *frame) +void can_message_t::convert_from_canfd_frame(canfd_frame &frame) { - - lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len; + lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len; + lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len; - switch (canfd_frame->can_id): - case (canfd_frame->can_id & CAN_ERR_FLAG): - id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + switch (frame.can_id): + case (frame.can_id & CAN_ERR_FLAG): + id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); break; - case (canfd_frame->can_id & CAN_EFF_FLAG): - id = canfd_frame->can_id & CAN_EFF_MASK; - format = CanMessageFormat::EXTENDED; + case (frame.can_id & CAN_EFF_FLAG): + id_ = frame.can_id & CAN_EFF_MASK; + format_ = CanMessageFormat::EXTENDED; break; default: - format = CanMessageFormat::STANDARD; - id = canfd_frame->can_id & CAN_SFF_MASK; + format_ = CanMessageFormat::STANDARD; + id_ = frame.can_id & CAN_SFF_MASK; break; - if (sizeof(canfd_frame->data) <= sizeof(data)) + if (sizeof(frame.data) <= data_.size()) { - memcpy(data, canfd_frame->data, lenght); + ::memcpy(data_, canfd_frame.data, lenght_); return 0; - } else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN) - ERROR(interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); + } else if (sizeof(frame.data) >= CAN_MAX_DLEN) + ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); } -canfd_frame* convert_to_canfd_frame() +canfd_frame convert_to_canfd_frame() { canfd_frame frame; - frame.id = can_msg.get_id(); - frame.len = can_msg.get_lenght(); - frame.data = can_msg.get_data(); + frame.can_id = get_id(); + frame.len = get_lenght(); + ::memcpy(frame.data, get_data(), lenght_); - return &frame; + return frame; } diff --git a/src/can-utils.h b/src/can-utils.h index 9fd35c6..71c0fcc 100644 --- a/src/can-utils.h +++ b/src/can-utils.h @@ -137,10 +137,11 @@ typedef struct CanMessage CanMessage; */ class can_message_t { private: - uint32_t id; - CanMessageFormat format; - uint8_t data[CAN_MESSAGE_SIZE]; - uint8_t length; + afb_binding_interface interface_; + uint32_t id_; + CanMessageFormat format_; + uint8_t data_[CAN_MESSAGE_SIZE]; + uint8_t length_; public: uint32_t get_id() const; |