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-rw-r--r--src/can/can-message.cpp105
-rw-r--r--src/can/can-message.hpp42
2 files changed, 78 insertions, 69 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_;
}
diff --git a/src/can/can-message.hpp b/src/can/can-message.hpp
index bdba07b..0494f5f 100644
--- a/src/can/can-message.hpp
+++ b/src/can/can-message.hpp
@@ -45,32 +45,32 @@ enum class can_message_format_t {
* buffers.
*/
class can_message_t {
- private:
- uint32_t id_; /*!< id_ - The ID of the message. */
- bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
- uint8_t length_; /*!< length_ - the length of the data array (max 8). */
- uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
- can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
- std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+private:
+ uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+ uint32_t id_; /*!< id_ - The ID of the message. */
+ uint8_t length_; /*!< length_ - the length of the data array (max 8). */
+ can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
+ bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
+ uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
+ std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
- uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+public:
+ 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);
- public:
- can_message_t();
-
- uint32_t get_id() const;
- bool get_rtr_flag_() const;
- can_message_format_t get_format() const;
- uint8_t get_flags() const;
- const uint8_t* get_data() const;
- uint8_t get_length() const;
+ uint32_t get_id() const;
+ bool get_rtr_flag_() const;
+ can_message_format_t get_format() const;
+ uint8_t get_flags() const;
+ const uint8_t* get_data() const;
+ uint8_t get_length() const;
- void set_format(const can_message_format_t new_format);
+ void set_format(const can_message_format_t new_format);
- bool is_correct_to_send();
+ bool is_correct_to_send();
- static can_message_t convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
- canfd_frame convert_to_canfd_frame();
+static can_message_t convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
+ canfd_frame convert_to_canfd_frame();
};
/**