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