diff options
Diffstat (limited to 'src/can-utils.cpp')
| -rw-r--r-- | src/can-utils.cpp | 54 |
1 files changed, 36 insertions, 18 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index fb6025c..42763b8 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -24,32 +24,42 @@ *********************************************************************************/ can_message_t::can_message_t(const struct afb_binding_interface* interface) - : interface_{interface} + : interface_{interface}, id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0} {} uint32_t can_message_t::get_id() const { - if (id_ != 0) - return id_; - return 0; + return id_; } int can_message_t::get_format() const { if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED) - return -1; + return CanMessageFormat::ERROR; return format_; } const uint8_t* can_message_t::get_data() const { - return &data_; + 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_) @@ -76,23 +86,25 @@ void can_message_t::set_format(const CanMessageFormat new_format) void can_message_t::set_data(const uint8_t new_data) { - ::memcpy(&data_, &new_data, sizeof(new_data)); - length_ = sizeof(new_data); + if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE)) + ERROR(interface_, "Can set data, your data array is too big"); + else + { + ::memcpy(&data_, &new_data, sizeof(new_data)); + length_ = sizeof(new_data); + } } -/* - * @brief This is the preferred way to initialize a CanMessage object - * from a read canfd_frame message. - * - * @param: canfd_frame pointer - */ 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; @@ -114,12 +126,18 @@ canfd_frame can_message_t::convert_to_canfd_frame() { canfd_frame frame; - frame.can_id = get_id(); - frame.len = get_length(); - ::memcpy(frame.data, get_data(), length_); - + if(is_correct_to_send()) + { + frame.can_id = get_id(); + frame.len = get_length(); + ::memcpy(frame.data, get_data(), length_); + } + else + ERROR(interface_, "can_message_t not correctly initialized to be sent"); + return frame; } + /******************************************************************************** * * can_bus_dev_t method implementation |