diff options
Diffstat (limited to 'src/can/can-message.cpp')
| -rw-r--r-- | src/can/can-message.cpp | 105 |
1 files changed, 57 insertions, 48 deletions
diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp index 1be0d2d..cf57876 100644 --- a/src/can/can-message.cpp +++ b/src/can/can-message.cpp @@ -32,7 +32,11 @@ * Constructor about can_message_t class. */ can_message_t::can_message_t() - : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{can_message_format_t::ERROR}, maxdlen_{0} + : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0} +{} + +can_message_t::can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t> data) + : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}, data_{data} {} /** @@ -141,86 +145,92 @@ void can_message_t::set_format(const can_message_format_t new_format) */ can_message_t can_message_t::convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes) { - switch(nbytes) + uint8_t maxdlen, length, flags = (uint8_t)NULL; + uint32_t id; + can_message_format_t format; + bool rtr_flag; + std::vector<uint8_t> data; + + switch(nbytes) { case CANFD_MTU: DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame"); - maxdlen_ = CANFD_MAX_DLEN; + maxdlen = CANFD_MAX_DLEN; break; case CAN_MTU: DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame"); - maxdlen_ = CAN_MAX_DLEN; + maxdlen = CAN_MAX_DLEN; break; default: ERROR(binder_interface, "set_max_data_length: unsupported CAN frame"); break; } - if(rtr_flag_) - length_ = frame.len& 0xF; + if(rtr_flag) + length = frame.len& 0xF; else - { - length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len; - } - + length = (frame.len > maxdlen) ? maxdlen : frame.len; + if (frame.can_id & CAN_ERR_FLAG) - format_ = can_message_format_t::ERROR; + format = can_message_format_t::ERROR; else if (frame.can_id & CAN_EFF_FLAG) - format_ = can_message_format_t::EXTENDED; + format = can_message_format_t::EXTENDED; else - format_ = can_message_format_t::STANDARD; - - switch(format_) + format = can_message_format_t::STANDARD; + + switch(format) { case can_message_format_t::STANDARD: - id_ = frame.can_id & CAN_SFF_MASK; + id = frame.can_id & CAN_SFF_MASK; break; case can_message_format_t::EXTENDED: - id_ = frame.can_id & CAN_EFF_MASK; + id = frame.can_id & CAN_EFF_MASK; break; case can_message_format_t::ERROR: - id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); break; default: ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id."); break; } - - /* Overwrite lenght_ if RTR flags is detected. + + /* Overwrite length_ 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; + rtr_flag = true; if(frame.len && frame.len <= CAN_MAX_DLC) { - if(rtr_flag_) - length_ = frame.len& 0xF; - else - { - length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len; - } + if(rtr_flag) + length = frame.len& 0xF; + else + { + length = (frame.len > maxdlen) ? maxdlen : frame.len; + } } } else { - /* Flags field only present for CAN FD frames*/ - if(maxdlen_ == CANFD_MAX_DLEN) - flags_ = frame.flags & 0xF; - - if (data_.capacity() < maxdlen_) - data_.reserve(maxdlen_); - int i; + /* Flags field only present for CAN FD frames*/ + if(maxdlen == CANFD_MAX_DLEN) + flags = frame.flags & 0xF; - data_.clear(); - /* 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(frame.data[i]); - }; - - 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]); + if (data.capacity() < maxdlen) + data.reserve(maxdlen); + int i; + + data.clear(); + /* 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(frame.data[i]); + }; + + 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]); } + + return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data); } /** @@ -242,7 +252,7 @@ canfd_frame can_message_t::convert_to_canfd_frame() } else ERROR(binder_interface, "can_message_t not correctly initialized to be sent"); - + return frame; } @@ -253,11 +263,10 @@ canfd_frame can_message_t::convert_to_canfd_frame() *********************************************************************************/ can_message_definition_t::can_message_definition_t() - : last_value_(CAN_MESSAGE_SIZE) + : last_value_(CAN_MESSAGE_SIZE) {} -uint32_t get_id() const +uint32_t can_message_definition_t::get_id() const { - return id_; -} + return id_; } |