Message: Create a type system so non-frame data can be represented

This change breaks existing code, hence the version bump, but it's
going to be much less error prone going forward.

communication/communication.cpp

@@ -29,7 +29,7 @@ bool Communication::open() {
 		report(APIEvent::Type::DeviceCurrentlyOpen, APIEvent::Severity::Error);
 		return false;
 	}
-	
+
 	if(!driver->open())
 		return false;
 	spawnThreads();
@@ -114,7 +114,7 @@ bool Communication::getSettingsSync(std::vector<uint8_t>& data, std::chrono::mil
 		return false;
 	}
 
-	data = std::move(msg->data);
+	data = std::move(gsmsg->data);
 	return true;
 }
 
@@ -128,7 +128,7 @@ std::shared_ptr<SerialNumberMessage> Communication::getSerialNumberSync(std::chr
 	auto m51 = std::dynamic_pointer_cast<Main51Message>(msg);
 	if(!m51) // Could not upcast for some reason
 		return std::shared_ptr<SerialNumberMessage>();
-	
+
 	return std::dynamic_pointer_cast<SerialNumberMessage>(m51);
 }
 
@@ -145,7 +145,7 @@ optional< std::vector< optional<DeviceAppVersion> > > Communication::getVersions
 	if(!ver) // Could not upcast for some reason
 		return nullopt;
 
-	if(!ver->MainChip || ver->Versions.size() != 1)
+	if(ver->ForChip != VersionMessage::MainChip || ver->Versions.size() != 1)
 		return nullopt;
 
 	ret.push_back(ver->Versions.front());
@@ -155,9 +155,8 @@ optional< std::vector< optional<DeviceAppVersion> > > Communication::getVersions
 	}, Main51MessageFilter(Command::GetSecondaryVersions), timeout);
 	if(msg) { // This one is allowed to fail
 		ver = std::dynamic_pointer_cast<VersionMessage>(msg);
-		if(ver && !ver->MainChip) {
+		if(ver && ver->ForChip != VersionMessage::MainChip)
 			ret.insert(ret.end(), ver->Versions.begin(), ver->Versions.end());
-		}
 	}
 
 	return ret;
@@ -231,7 +230,7 @@ void Communication::readTask() {
 	std::vector<uint8_t> readBytes;
 
 	EventManager::GetInstance().downgradeErrorsOnCurrentThread();
-	
+
 	while(!closing) {
 		readBytes.clear();
 		if(driver->readWait(readBytes)) {

communication/decoder.cpp

@@ -3,6 +3,7 @@
 #include "icsneo/communication/message/serialnumbermessage.h"
 #include "icsneo/communication/message/resetstatusmessage.h"
 #include "icsneo/communication/message/readsettingsmessage.h"
+#include "icsneo/communication/message/canerrorcountmessage.h"
 #include "icsneo/communication/message/flexray/control/flexraycontrolmessage.h"
 #include "icsneo/communication/command.h"
 #include "icsneo/device/device.h"
@@ -24,7 +25,7 @@ uint64_t Decoder::GetUInt64FromLEBytes(const uint8_t* bytes) {
 
 bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Packet>& packet) {
 	switch(packet->network.getType()) {
-		case Network::Type::Ethernet:
+		case Network::Type::Ethernet: {
 			result = HardwareEthernetPacket::DecodeToMessage(packet->data, report);
 			if(!result) {
 				report(APIEvent::Type::PacketDecodingError, APIEvent::Severity::Error);
@@ -33,9 +34,11 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 
 			// Timestamps are in (resolution) ns increments since 1/1/2007 GMT 00:00:00.0000
 			// The resolution depends on the device
-			result->timestamp *= timestampResolution;
-			result->network = packet->network;
+			EthernetMessage& eth = *static_cast<EthernetMessage*>(result.get());
+			eth.timestamp *= timestampResolution;
+			eth.network = packet->network;
 			return true;
+		}
 		case Network::Type::CAN:
 		case Network::Type::SWCAN:
 		case Network::Type::LSFTCAN: {
@@ -49,10 +52,28 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 				report(APIEvent::Type::PacketDecodingError, APIEvent::Severity::Error);
 				return false; // A nullptr was returned, the packet was malformed
 			}
+
 			// Timestamps are in (resolution) ns increments since 1/1/2007 GMT 00:00:00.0000
 			// The resolution depends on the device
 			result->timestamp *= timestampResolution;
-			result->network = packet->network;
+
+			switch(result->type) {
+				case Message::Type::Frame: {
+					CANMessage& can = *static_cast<CANMessage*>(result.get());
+					can.network = packet->network;
+					break;
+				}
+				case Message::Type::CANErrorCount: {
+					CANErrorCountMessage& can = *static_cast<CANErrorCountMessage*>(result.get());
+					can.network = packet->network;
+					break;
+				}
+				default: {
+					report(APIEvent::Type::PacketDecodingError, APIEvent::Severity::Error);
+					return false; // An unknown type was returned, the packet was malformed
+				}
+			}
+
 			return true;
 		}
 		case Network::Type::FlexRay: {
@@ -66,10 +87,12 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 				report(APIEvent::Type::PacketDecodingError, APIEvent::Severity::Error);
 				return false; // A nullptr was returned, the packet was malformed
 			}
+
 			// Timestamps are in (resolution) ns increments since 1/1/2007 GMT 00:00:00.0000
 			// The resolution depends on the device
-			result->timestamp *= timestampResolution;
-			result->network = packet->network;
+			FlexRayMessage& fr = *static_cast<FlexRayMessage*>(result.get());
+			fr.timestamp *= timestampResolution;
+			fr.network = packet->network;
 			return true;
 		}
 		case Network::Type::ISO9141: {
@@ -84,8 +107,9 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 
 			// Timestamps are in (resolution) ns increments since 1/1/2007 GMT 00:00:00.0000
 			// The resolution depends on the device
-			result->timestamp *= timestampResolution;
-			result->network = packet->network;
+			ISO9141Message& iso = *static_cast<ISO9141Message*>(result.get());
+			iso.timestamp *= timestampResolution;
+			iso.network = packet->network;
 			return true;
 		}
 		case Network::Type::Internal: {
@@ -98,7 +122,6 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 
 					HardwareResetStatusPacket* data = (HardwareResetStatusPacket*)packet->data.data();
 					auto msg = std::make_shared<ResetStatusMessage>();
-					msg->network = packet->network;
 					msg->mainLoopTime = data->main_loop_time_25ns * 25;
 					msg->maxMainLoopTime = data->max_main_loop_time_25ns * 25;
 					msg->busVoltage = data->busVoltage;
@@ -124,9 +147,9 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 					// They come in as CAN but we will handle them in the device rather than
 					// passing them onto the user.
 					if(packet->data.size() < 24) {
-						result = std::make_shared<Message>();
-						result->network = packet->network;
-						result->data = packet->data;
+						auto rawmsg = std::make_shared<RawMessage>(Network::NetID::Device);
+						result = rawmsg;
+						rawmsg->data = packet->data;
 						return true;
 					}
 
@@ -135,17 +158,21 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 						report(APIEvent::Type::PacketDecodingError, APIEvent::Severity::Error);
 						return false; // A nullptr was returned, the packet was malformed
 					}
+
 					// Timestamps are in (resolution) ns increments since 1/1/2007 GMT 00:00:00.0000
 					// The resolution depends on the device
-					result->timestamp *= timestampResolution;
-					result->network = packet->network;
+					auto* raw = dynamic_cast<RawMessage*>(result.get());
+					if(raw == nullptr) {
+						report(APIEvent::Type::PacketDecodingError, APIEvent::Severity::Error);
+						return false; // A nullptr was returned, the packet was malformed
+					}
+					raw->timestamp *= timestampResolution;
+					raw->network = packet->network;
 					return true;
 				}
 				case Network::NetID::DeviceStatus: {
-					result = std::make_shared<Message>();
-					result->network = packet->network;
 					// Just pass along the data, the device needs to handle this itself
-					result->data = packet->data;
+					result = std::make_shared<RawMessage>(packet->network, packet->data);
 					return true;
 				}
 				case Network::NetID::FlexRayControl: {
@@ -161,7 +188,6 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 					switch((Command)packet->data[0]) {
 						case Command::RequestSerialNumber: {
 							auto msg = std::make_shared<SerialNumberMessage>();
-							msg->network = packet->network;
 							uint64_t serial = GetUInt64FromLEBytes(packet->data.data() + 1);
 							// The device sends 64-bits of serial number, but we never use more than 32-bits.
 							msg->deviceSerial = Device::SerialNumToString((uint32_t)serial);
@@ -194,7 +220,6 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 						}
 						default:
 							auto msg = std::make_shared<Main51Message>();
-							msg->network = packet->network;
 							msg->command = Command(packet->data[0]);
 							msg->data.insert(msg->data.begin(), packet->data.begin() + 1, packet->data.end());
 							result = msg;
@@ -218,9 +243,8 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 				}
 				case Network::NetID::ReadSettings: {
 					auto msg = std::make_shared<ReadSettingsMessage>();
-					msg->network = packet->network;
 					msg->response = ReadSettingsMessage::Response(packet->data[0]);
-					
+
 					if(msg->response == ReadSettingsMessage::Response::OK) {
 						// The global settings structure is the payload of the message in this case
 						msg->data.insert(msg->data.begin(), packet->data.begin() + 10, packet->data.end());
@@ -243,9 +267,6 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
 	}
 
 	// For the moment other types of messages will automatically be decoded as raw messages
-	auto msg = std::make_shared<Message>();
-	msg->network = packet->network;
-	msg->data = packet->data;
-	result = msg;
+	result = std::make_shared<RawMessage>(packet->network, packet->data);
 	return true;
 }

communication/encoder.cpp

@@ -9,119 +9,144 @@ using namespace icsneo;
 
 bool Encoder::encode(const Packetizer& packetizer, std::vector<uint8_t>& result, const std::shared_ptr<Message>& message) {
 	bool shortFormat = false;
-	bool useResultAsBuffer = false; // Otherwise it's expected that we use message->data
+	std::vector<uint8_t>* buffer = &result;
+	uint16_t netid = 0;
 	result.clear();
 
-	switch(message->network.getType()) {
-		case Network::Type::Ethernet: {
-			auto ethmsg = std::dynamic_pointer_cast<EthernetMessage>(message);
-			if(!ethmsg) {
-				report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
-				return false; // The message was not a properly formed EthernetMessage
-			}
+	switch(message->type) {
+		case Message::Type::Frame: {
+			auto frame = std::dynamic_pointer_cast<Frame>(message);
 
-			useResultAsBuffer = true;
-			if(!HardwareEthernetPacket::EncodeFromMessage(*ethmsg, result, report))
-				return false;
+			// Frame uses frame->data as the buffer unless directed otherwise
+			buffer = &frame->data;
+			netid = uint16_t(frame->network.getNetID());
+
+			switch(frame->network.getType()) {
+				case Network::Type::Ethernet: {
+					auto ethmsg = std::dynamic_pointer_cast<EthernetMessage>(message);
+					if(!ethmsg) {
+						report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
+						return false; // The message was not a properly formed EthernetMessage
+					}
+
+					buffer = &result;
+					if(!HardwareEthernetPacket::EncodeFromMessage(*ethmsg, result, report))
+						return false;
+
+					break;
+				} // End of Network::Type::Ethernet
+				case Network::Type::CAN:
+				case Network::Type::SWCAN:
+				case Network::Type::LSFTCAN: {
+					auto canmsg = std::dynamic_pointer_cast<CANMessage>(message);
+					if(!canmsg) {
+						report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
+						return false; // The message was not a properly formed CANMessage
+					}
+
+					if(!supportCANFD && canmsg->isCANFD) {
+						report(APIEvent::Type::CANFDNotSupported, APIEvent::Severity::Error);
+						return false; // This device does not support CAN FD
+					}
+
+					buffer = &result;
+					if(!HardwareCANPacket::EncodeFromMessage(*canmsg, result, report))
+						return false; // The CANMessage was malformed
+
+					break;
+				} // End of Network::Type::CAN
+				case Network::Type::ISO9141: {
+					auto isomsg = std::dynamic_pointer_cast<ISO9141Message>(message);
+					if(!isomsg) {
+						report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
+						return false; // The message was not a properly formed ISO9141Message
+					}
+
+					// Skip the normal message wrapping at the bottom since we need to send multiple
+					// packets to the device. This function just encodes them back to back into `result`
+					return HardwareISO9141Packet::EncodeFromMessage(*isomsg, result, report, packetizer);
+				} // End of Network::Type::ISO9141
+				default:
+					report(APIEvent::Type::UnexpectedNetworkType, APIEvent::Severity::Error);
+					return false;
+			}
 
 			break;
-		} // End of Network::Type::Ethernet
-		case Network::Type::CAN:
-		case Network::Type::SWCAN:
-		case Network::Type::LSFTCAN: {
-			auto canmsg = std::dynamic_pointer_cast<CANMessage>(message);
-			if(!canmsg) {
-				report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
-				return false; // The message was not a properly formed CANMessage
-			}
+		}
+		case Message::Type::RawMessage: {
+			auto raw = std::dynamic_pointer_cast<RawMessage>(message);
 
-			if(!supportCANFD && canmsg->isCANFD) {
-				report(APIEvent::Type::CANFDNotSupported, APIEvent::Severity::Error);
-				return false; // This device does not support CAN FD
-			}
-			
-			useResultAsBuffer = true;
-			if(!HardwareCANPacket::EncodeFromMessage(*canmsg, result, report))
-				return false; // The CANMessage was malformed
+			// Raw message uses raw->data as the buffer unless directed otherwise
+			buffer = &raw->data;
+			netid = uint16_t(raw->network.getNetID());
 
-			break;
-		} // End of Network::Type::CAN
-		case Network::Type::ISO9141: {
-			auto isomsg = std::dynamic_pointer_cast<ISO9141Message>(message);
-			if(!isomsg) {
-				report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
-				return false; // The message was not a properly formed ISO9141Message
-			}
-
-			// Skip the normal message wrapping at the bottom since we need to send multiple
-			// packets to the device. This function just encodes them back to back into `result`
-			return HardwareISO9141Packet::EncodeFromMessage(*isomsg, result, report, packetizer);
-		} // End of Network::Type::ISO9141
-		default:
-			switch(message->network.getNetID()) {
+			switch(raw->network.getNetID()) {
 				case Network::NetID::Device:
 					shortFormat = true;
 					break;
-				case Network::NetID::Main51: {
-					auto m51msg = std::dynamic_pointer_cast<Main51Message>(message);
-					if(!m51msg) {
-						report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
-						return false; // The message was not a properly formed Main51Message
-					}
-
-					if(!m51msg->forceShortFormat) {
-						// Main51 can be sent as a long message without setting the NetID to RED first
-						// Size in long format is the size of the entire packet
-						// So +1 for AA header, +1 for short format header, and +2 for long format size
-						uint16_t size = uint16_t(message->data.size()) + 1 + 1 + 2;
-						size += 1; // Even though we are not including the NetID bytes, the device expects them to be counted in the length
-						size += 1; // Main51 Command
-						message->data.insert(message->data.begin(), {
-							(uint8_t)Network::NetID::Main51, // 0x0B for long message
-							(uint8_t)size, // Size, little endian 16-bit
-							(uint8_t)(size >> 8),
-							(uint8_t)m51msg->command
-						});
-						result = packetizer.packetWrap(message->data, shortFormat);
-						return true;
-					} else {
-						message->data.insert(message->data.begin(), { uint8_t(m51msg->command) });
-						shortFormat = true;
-					}
-					break;
-				}
 				case Network::NetID::RED_OLDFORMAT: {
 					// See the decoder for an explanation
 					// We expect the network byte to be populated already in data, but not the length
-					uint16_t length = uint16_t(message->data.size()) - 1;
-					message->data.insert(message->data.begin(), {(uint8_t)length, (uint8_t)(length >> 8)});
+					uint16_t length = uint16_t(raw->data.size()) - 1;
+					raw->data.insert(raw->data.begin(), {(uint8_t)length, (uint8_t)(length >> 8)});
 					break;
 				}
 				default:
 					report(APIEvent::Type::UnexpectedNetworkType, APIEvent::Severity::Error);
 					return false;
 			}
+			break;
+		}
+		case Message::Type::Main51: {
+			auto m51msg = std::dynamic_pointer_cast<Main51Message>(message);
+			if(!m51msg) {
+				report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
+				return false; // The message was not a properly formed Main51Message
+			}
+
+			buffer = &m51msg->data;
+			netid = uint16_t(Network::NetID::Main51);
+
+			if(!m51msg->forceShortFormat) {
+				// Main51 can be sent as a long message without setting the NetID to RED first
+				// Size in long format is the size of the entire packet
+				// So +1 for AA header, +1 for short format header, and +2 for long format size
+				uint16_t size = uint16_t(m51msg->data.size()) + 1 + 1 + 2;
+				size += 1; // Even though we are not including the NetID bytes, the device expects them to be counted in the length
+				size += 1; // Main51 Command
+				m51msg->data.insert(m51msg->data.begin(), {
+					(uint8_t)Network::NetID::Main51, // 0x0B for long message
+					(uint8_t)size, // Size, little endian 16-bit
+					(uint8_t)(size >> 8),
+					(uint8_t)m51msg->command
+				});
+				result = packetizer.packetWrap(m51msg->data, shortFormat);
+				return true;
+			} else {
+				m51msg->data.insert(m51msg->data.begin(), { uint8_t(m51msg->command) });
+				shortFormat = true;
+			}
+		}
+		break;
 	}
 
 	// Early returns may mean we don't reach this far, check the type you're concerned with
-	auto& buffer = useResultAsBuffer ? result : message->data;
-
 	if(shortFormat) {
-		buffer.insert(buffer.begin(), (uint8_t(buffer.size()) << 4) | uint8_t(message->network.getNetID()));
+		buffer->insert(buffer->begin(), (uint8_t(buffer->size()) << 4) | uint8_t(netid));
 	} else {
 		// Size in long format is the size of the entire packet
 		// So +1 for AA header, +1 for short format header, +2 for long format size, and +2 for long format NetID
-		uint16_t size = uint16_t(buffer.size()) + 1 + 1 + 2 + 2;
-		buffer.insert(buffer.begin(), {
+		uint16_t size = uint16_t(buffer->size()) + 1 + 1 + 2 + 2;
+		buffer->insert(buffer->begin(), {
 			(uint8_t)Network::NetID::RED, // 0x0C for long message
 			(uint8_t)size, // Size, little endian 16-bit
 			(uint8_t)(size >> 8),
-			(uint8_t)message->network.getNetID(), // NetID, little endian 16-bit
-			(uint8_t)(uint16_t(message->network.getNetID()) >> 8)
+			(uint8_t)netid, // NetID, little endian 16-bit
+			(uint8_t)(netid >> 8)
 		});
 	}
 
-	result = packetizer.packetWrap(buffer, shortFormat);
+	result = packetizer.packetWrap(*buffer, shortFormat);
 	return true;
 }
 
@@ -133,20 +158,19 @@ bool Encoder::encode(const Packetizer& packetizer, std::vector<uint8_t>& result,
 		 * In this case, command 0x06 is SetLEDState.
 		 * This old command type is not really used anywhere else.
 		 */
-		msg = std::make_shared<Message>();
+		auto canmsg = std::make_shared<RawMessage>(Network::NetID::Device);
+		msg = canmsg;
 		if(arguments.empty()) {
 			report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
 			return false;
 		}
-		msg->network = Network::NetID::Device;
-		msg->data.reserve(3);
-		msg->data.push_back(0x00);
-		msg->data.push_back(0x06); // SetLEDState
-		msg->data.push_back(arguments.at(0)); // See Device::LEDState
+		canmsg->data.reserve(3);
+		canmsg->data.push_back(0x00);
+		canmsg->data.push_back(0x06); // SetLEDState
+		canmsg->data.push_back(arguments.at(0)); // See Device::LEDState
 	} else {
 		auto m51msg = std::make_shared<Main51Message>();
 		msg = m51msg;
-		msg->network = Network::NetID::Main51;
 		m51msg->command = cmd;
 		switch(cmd) {
 			case Command::ReadSettings:
@@ -161,8 +185,8 @@ bool Encoder::encode(const Packetizer& packetizer, std::vector<uint8_t>& result,
 			default:
 				break;
 		}
-		msg->data.insert(msg->data.end(), std::make_move_iterator(arguments.begin()), std::make_move_iterator(arguments.end()));
+		m51msg->data.insert(m51msg->data.end(), std::make_move_iterator(arguments.begin()), std::make_move_iterator(arguments.end()));
 	}
-	
+
 	return encode(packetizer, result, msg);
 }

communication/message/flexray/control/flexraycontrolmessage.cpp

@@ -64,9 +64,7 @@ std::vector<uint8_t> FlexRayControlMessage::BuildWriteMessageBufferArgs(
 	return BuildBaseControlArgs(controller, FlexRay::Opcode::WriteMessageBuffer, args);
 }
 
-FlexRayControlMessage::FlexRayControlMessage(const Packet& packet) : Message() {
-	network = Network::NetID::FlexRayControl;
-
+FlexRayControlMessage::FlexRayControlMessage(const Packet& packet) : Message(Message::Type::FlexRayControl) {
 	if(packet.data.size() < 2)
 		return; // huh?
 	controller = packet.data[0];
@@ -77,7 +75,7 @@ FlexRayControlMessage::FlexRayControlMessage(const Packet& packet) : Message() {
 	opcode = FlexRay::Opcode(packet.data[1]);
 	if(opcode != FlexRay::Opcode::ReadCCRegs && opcode != FlexRay::Opcode::ReadCCStatus)
 		return;
-	
+
 	// Read out registers
 	size_t bytes = packet.data.size() - 2;
 	const size_t count = bytes / sizeof(uint32_t);

communication/message/neomessage.cpp

@@ -1,87 +1,116 @@
 #include "icsneo/communication/message/neomessage.h"
 #include "icsneo/communication/message/canmessage.h"
 #include "icsneo/communication/message/ethernetmessage.h"
+#include "icsneo/communication/message/canerrorcountmessage.h"
 
 using namespace icsneo;
 
 neomessage_t icsneo::CreateNeoMessage(const std::shared_ptr<Message> message) {
 	// This function is not responsible for storing the message!
 	// Keep the shared_ptr around for the lifetime of the data access
-	const auto type = message->network.getType();
 	neomessage_t neomsg = {}; // Clear out the memory
-	neomsg.netid = (uint32_t)message->network.getNetID();
-	neomsg.type = (uint8_t)type;
-	neomsg.description = message->description;
-	neomsg.length = message->data.size();
-	neomsg.data = message->data.data();
+	neomsg.messageType = (neomessagetype_t)message->type;
 	neomsg.timestamp = message->timestamp;
-	neomsg.status.globalError = message->error;
-	neomsg.status.transmitMessage = message->transmitted;
+	switch (message->type)
+	{
+	case Message::Type::Frame: {
+		neomessage_frame_t& frame = *(neomessage_frame_t*)&neomsg;
+		auto framemsg = std::static_pointer_cast<Frame>(message);
+		const auto netType = framemsg->network.getType();
+		frame.netid = (neonetid_t)framemsg->network.getNetID();
+		frame.type = (neonettype_t)netType;
+		frame.description = framemsg->description;
+		frame.length = framemsg->data.size();
+		frame.data = framemsg->data.data();
+		frame.timestamp = framemsg->timestamp;
+		frame.status.globalError = framemsg->error;
+		frame.status.transmitMessage = framemsg->transmitted;
 
-	switch(type) {
-		case Network::Type::CAN:
-		case Network::Type::SWCAN:
-		case Network::Type::LSFTCAN: {
-			neomessage_can_t& can = *(neomessage_can_t*)&neomsg;
-			auto canmsg = std::static_pointer_cast<CANMessage>(message);
-			can.arbid = canmsg->arbid;
-			can.dlcOnWire = canmsg->dlcOnWire;
-			can.status.extendedFrame = canmsg->isExtended;
-			can.status.remoteFrame = canmsg->isRemote;
-			can.status.canfdRTR = canmsg->isRemote;
-			can.status.canfdFDF = canmsg->isCANFD;
-			can.status.canfdBRS = canmsg->baudrateSwitch;
-			can.status.canfdESI = canmsg->errorStateIndicator;
-			break;
+		switch(netType) {
+			case Network::Type::CAN:
+			case Network::Type::SWCAN:
+			case Network::Type::LSFTCAN: {
+				neomessage_can_t& can = *(neomessage_can_t*)&neomsg;
+				auto canmsg = std::static_pointer_cast<CANMessage>(message);
+				can.arbid = canmsg->arbid;
+				can.dlcOnWire = canmsg->dlcOnWire;
+				can.status.extendedFrame = canmsg->isExtended;
+				can.status.remoteFrame = canmsg->isRemote;
+				can.status.canfdRTR = canmsg->isRemote;
+				can.status.canfdFDF = canmsg->isCANFD;
+				can.status.canfdBRS = canmsg->baudrateSwitch;
+				can.status.canfdESI = canmsg->errorStateIndicator;
+				break;
+			}
+			case Network::Type::Ethernet: {
+				neomessage_eth_t& eth = *(neomessage_eth_t*)&neomsg;
+				auto ethmsg = std::static_pointer_cast<EthernetMessage>(message);
+				eth.preemptionFlags = ethmsg->preemptionFlags;
+				eth.status.incompleteFrame = ethmsg->frameTooShort;
+				// TODO Fill in extra status bits
+				//eth.status.xyz = ethmsg->preemptionEnabled;
+				//eth.status.xyz = ethmsg->fcsAvailable;
+				//eth.status.xyz = ethmsg->noPadding;
+				break;
+			}
+			default:
+				// TODO Implement others
+				break;
 		}
-		case Network::Type::Ethernet: {
-			neomessage_eth_t& eth = *(neomessage_eth_t*)&neomsg;
-			auto ethmsg = std::static_pointer_cast<EthernetMessage>(message);
-			eth.preemptionFlags = ethmsg->preemptionFlags;
-			eth.status.incompleteFrame = ethmsg->frameTooShort;
-			// TODO Fill in extra status bits
-			//eth.status.xyz = ethmsg->preemptionEnabled;
-			//eth.status.xyz = ethmsg->fcsAvailable;
-			//eth.status.xyz = ethmsg->noPadding;
-			break;
-		}
-		default:
-			// TODO Implement others
-			break;
+		break;
+	}
+	case Message::Type::CANErrorCount: {
+		neomessage_can_error_t& canerror = *(neomessage_can_error_t*)&neomsg;
+		auto canerrormsg = std::static_pointer_cast<CANErrorCountMessage>(message);
+		canerror.transmitErrorCount = canerrormsg->transmitErrorCount;
+		canerror.receiveErrorCount = canerrormsg->receiveErrorCount;
+		canerror.status.canBusOff = canerrormsg->busOff;
+		canerror.netid = (neonetid_t)canerrormsg->network.getNetID();
+		canerror.type = (neonettype_t)canerrormsg->network.getType();
+		break;
+	}
+	default:
+		break;
 	}
-
 	return neomsg;
 }
 
 std::shared_ptr<Message> icsneo::CreateMessageFromNeoMessage(const neomessage_t* neomessage) {
-	const Network network = neomessage->netid;
-	switch(network.getType()) {
-		case Network::Type::CAN:
-		case Network::Type::SWCAN:
-		case Network::Type::LSFTCAN: {
-			neomessage_can_t& can = *(neomessage_can_t*)neomessage;
-			auto canmsg = std::make_shared<CANMessage>();
-			canmsg->network = network;
-			canmsg->description = can.description;
-			canmsg->data.insert(canmsg->data.end(), can.data, can.data + can.length);
-			canmsg->arbid = can.arbid;
-			canmsg->isExtended = can.status.extendedFrame;
-			canmsg->isRemote = can.status.remoteFrame | can.status.canfdRTR;
-			canmsg->isCANFD = can.status.canfdFDF;
-			canmsg->baudrateSwitch = can.status.canfdBRS;
-			canmsg->errorStateIndicator = can.status.canfdESI;
-			return canmsg;
+	switch((Message::Type)neomessage->messageType) {
+		case Message::Type::Frame: {
+			const Network network = ((neomessage_frame_t*)neomessage)->netid;
+			switch(network.getType()) {
+				case Network::Type::CAN:
+				case Network::Type::SWCAN:
+				case Network::Type::LSFTCAN: {
+					neomessage_can_t& can = *(neomessage_can_t*)neomessage;
+					auto canmsg = std::make_shared<CANMessage>();
+					canmsg->network = network;
+					canmsg->description = can.description;
+					canmsg->data.insert(canmsg->data.end(), can.data, can.data + can.length);
+					canmsg->arbid = can.arbid;
+					canmsg->dlcOnWire = can.dlcOnWire;
+					canmsg->isExtended = can.status.extendedFrame;
+					canmsg->isRemote = can.status.remoteFrame | can.status.canfdRTR;
+					canmsg->isCANFD = can.status.canfdFDF;
+					canmsg->baudrateSwitch = can.status.canfdBRS;
+					canmsg->errorStateIndicator = can.status.canfdESI;
+					return canmsg;
+				}
+				case Network::Type::Ethernet: {
+					neomessage_eth_t& eth = *(neomessage_eth_t*)neomessage;
+					auto ethmsg = std::make_shared<EthernetMessage>();
+					ethmsg->network = network;
+					ethmsg->description = eth.description;
+					ethmsg->data.insert(ethmsg->data.end(), eth.data, eth.data + eth.length);
+					return ethmsg;
+				}
+				default: break;
+			}
+			break;
 		}
-		case Network::Type::Ethernet: {
-			neomessage_eth_t& eth = *(neomessage_eth_t*)neomessage;
-			auto ethmsg = std::make_shared<EthernetMessage>();
-			ethmsg->network = network;
-			ethmsg->description = eth.description;
-			ethmsg->data.insert(ethmsg->data.end(), eth.data, eth.data + eth.length);
-			return ethmsg;
-		}
-		default:
-			// TODO Implement others
-			return std::shared_ptr<Message>();
+		default: break;
 	}
+	return std::shared_ptr<Message>();
+
 }

communication/packet/canpacket.cpp

@@ -1,4 +1,5 @@
 #include "icsneo/communication/packet/canpacket.h"
+#include "icsneo/communication/message/canerrorcountmessage.h"
 #include "icsneo/platform/optional.h"
 
 using namespace icsneo;
@@ -6,7 +7,7 @@ using namespace icsneo;
 static optional<uint8_t> CANFD_DLCToLength(uint8_t length) {
 	if (length < 8)
 		return length;
-	
+
 	switch(length) {
 		case 0x9:
 			return 12;
@@ -26,61 +27,75 @@ static optional<uint8_t> CANFD_DLCToLength(uint8_t length) {
 	return nullopt;
 }
 
-std::shared_ptr<CANMessage> HardwareCANPacket::DecodeToMessage(const std::vector<uint8_t>& bytestream) {
+std::shared_ptr<Message> HardwareCANPacket::DecodeToMessage(const std::vector<uint8_t>& bytestream) {
 	const HardwareCANPacket* data = (const HardwareCANPacket*)bytestream.data();
 
-	auto msg = std::make_shared<CANMessage>();
+	if(data->dlc.RB1) { // Change counts reporting
 
-	// Arb ID
-	if(data->header.IDE) { // Extended 29-bit ID
-		msg->arbid = (data->header.SID & 0x7ff) << 18;
-		msg->arbid |= (data->eid.EID & 0xfff) << 6;
-		msg->arbid |= (data->dlc.EID2 & 0x3f);
-		msg->isExtended = true;
-	} else { // Standard 11-bit ID
-		msg->arbid = data->header.SID;
-	}
+		const bool busOff = data->data[0] & 0b00100000;
 
-	// This timestamp is raw off the device (in timestampResolution increments)
-	// Decoder will fix as it has information about the timestampResolution increments
-	msg->timestamp = data->timestamp.TS;
+		auto msg = std::make_shared<CANErrorCountMessage>(data->data[2], data->data[1], busOff);
 
-	// DLC
-	uint8_t length = data->dlc.DLC;
-	msg->dlcOnWire = length; // This will hold the real DLC on wire 0x0 - 0xF
-	if(data->header.EDL && data->timestamp.IsExtended) { // CAN FD
-		msg->isCANFD = true;
-		msg->baudrateSwitch = data->header.BRS; // CAN FD Baudrate Switch
-		msg->errorStateIndicator = data->header.ESI;
-		const optional<uint8_t> lenFromDLC = CANFD_DLCToLength(length);
-		if (lenFromDLC)
-			length = *lenFromDLC;
-	} else if(length > 8) { // This is a standard CAN frame with a length of more than 8
-		// Yes, this is possible. On the wire, the length field is a nibble, and we do want to return an accurate value
-		// We don't want to overread our buffer, though, so make sure we cap the length
-		length = 8;
-	}
-	
-	// Data
-	// The first 8 bytes are always in the standard place
-	if((data->dlc.RTR && data->header.IDE) || (!data->header.IDE && data->header.SRR)) { // Remote Request Frame
-		msg->data.resize(length); // This data will be all zeros, but the length will be set
-		msg->isRemote = true;
-	} else {
-		msg->data.reserve(length);
-		msg->data.insert(msg->data.end(), data->data, data->data + (length > 8 ? 8 : length));
-		if(length > 8) { // If there are more than 8 bytes, they come at the end of the message
-			// Messages with extra data are formatted as message, then uint16_t netid, then uint16_t length, then extra data
-			const auto extraDataStart = bytestream.begin() + sizeof(HardwareCANPacket) + 2 + 2;
-			msg->data.insert(msg->data.end(), extraDataStart, extraDataStart + (length - 8));
+		// This timestamp is raw off the device (in timestampResolution increments)
+		// Decoder will fix as it has information about the timestampResolution increments
+		msg->timestamp = data->timestamp.TS;
+
+		return msg;
+
+	} else { // CAN Frame
+		auto msg = std::make_shared<CANMessage>();
+
+		// Arb ID
+		if(data->header.IDE) { // Extended 29-bit ID
+			msg->arbid = (data->header.SID & 0x7ff) << 18;
+			msg->arbid |= (data->eid.EID & 0xfff) << 6;
+			msg->arbid |= (data->dlc.EID2 & 0x3f);
+			msg->isExtended = true;
+		} else { // Standard 11-bit ID
+			msg->arbid = data->header.SID;
 		}
+
+		// This timestamp is raw off the device (in timestampResolution increments)
+		// Decoder will fix as it has information about the timestampResolution increments
+		msg->timestamp = data->timestamp.TS;
+
+		// DLC
+		uint8_t length = data->dlc.DLC;
+		msg->dlcOnWire = length; // This will hold the real DLC on wire 0x0 - 0xF
+		if(data->header.EDL && data->timestamp.IsExtended) { // CAN FD
+			msg->isCANFD = true;
+			msg->baudrateSwitch = data->header.BRS; // CAN FD Baudrate Switch
+			msg->errorStateIndicator = data->header.ESI;
+			const optional<uint8_t> lenFromDLC = CANFD_DLCToLength(length);
+			if (lenFromDLC)
+				length = *lenFromDLC;
+		} else if(length > 8) { // This is a standard CAN frame with a length of more than 8
+			// Yes, this is possible. On the wire, the length field is a nibble, and we do want to return an accurate value
+			// We don't want to overread our buffer, though, so make sure we cap the length
+			length = 8;
+		}
+
+		// Data
+		// The first 8 bytes are always in the standard place
+		if((data->dlc.RTR && data->header.IDE) || (!data->header.IDE && data->header.SRR)) { // Remote Request Frame
+			msg->data.resize(length); // This data will be all zeros, but the length will be set
+			msg->isRemote = true;
+		} else {
+			msg->data.reserve(length);
+			msg->data.insert(msg->data.end(), data->data, data->data + (length > 8 ? 8 : length));
+			if(length > 8) { // If there are more than 8 bytes, they come at the end of the message
+				// Messages with extra data are formatted as message, then uint16_t netid, then uint16_t length, then extra data
+				const auto extraDataStart = bytestream.begin() + sizeof(HardwareCANPacket) + 2 + 2;
+				msg->data.insert(msg->data.end(), extraDataStart, extraDataStart + (length - 8));
+			}
+		}
+
+		msg->transmitted = data->eid.TXMSG;
+		msg->error = data->eid.TXAborted || data->eid.TXError || data->eid.TXLostArb;
+		msg->description = data->stats;
+
+		return msg;
 	}
-
-	msg->transmitted = data->eid.TXMSG;
-	msg->error = data->eid.TXAborted || data->eid.TXError || data->eid.TXLostArb;
-	msg->description = data->stats;
-
-	return msg;
 }
 
 bool HardwareCANPacket::EncodeFromMessage(const CANMessage& message, std::vector<uint8_t>& result, const device_eventhandler_t& report) {

communication/packet/versionpacket.cpp

@@ -6,7 +6,7 @@ std::shared_ptr<VersionMessage> HardwareVersionPacket::DecodeMainToMessage(const
 	if(bytestream.size() < 3) // Not enough bytes to decode
 		return std::shared_ptr<VersionMessage>();
 
-	auto msg = std::make_shared<VersionMessage>(true);
+	auto msg = std::make_shared<VersionMessage>(VersionMessage::MainChip);
 
 	optional<DeviceAppVersion>& version = msg->Versions.emplace_back();
 	version.emplace();
@@ -17,7 +17,7 @@ std::shared_ptr<VersionMessage> HardwareVersionPacket::DecodeMainToMessage(const
 }
 
 std::shared_ptr<VersionMessage> HardwareVersionPacket::DecodeSecondaryToMessage(const std::vector<uint8_t>& bytestream) {
-	auto msg = std::make_shared<VersionMessage>(false);
+	auto msg = std::make_shared<VersionMessage>(VersionMessage::SecondaryChips);
 
 	size_t bytesLeft = bytestream.size();
 	if(bytesLeft)