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Communication::Packet refactored out to Packet

pull/4/head
Paul Hollinsky 2018-09-25 17:40:33 -04:00
parent d27b516894
commit 585abe7cbb
6 changed files with 70 additions and 47 deletions
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7
communication/include/communication.h
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@ -4,7 +4,7 @@
#include "communication/include/icommunication.h"
#include "communication/include/command.h"
#include "communication/include/network.h"
#include "communication/include/messagecallback.h"
#include "communication/include/packet.h"
#include <memory>
#include <vector>
#include <atomic>
@ -40,11 +40,6 @@ public:
void setAlign16Bit(bool enable) { align16bit = enable; }
class Packet {
public:
Network network;
std::vector<uint8_t> data;
};
protected:
std::shared_ptr<ICommunication> impl;

5
communication/include/messagedecoder.h
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@ -1,9 +1,9 @@
#ifndef __MESSAGEDECODER_H_
#define __MESSAGEDECODER_H_
#include "communication/include/communication.h"
#include "communication/message/include/message.h"
#include "communication/message/include/canmessage.h"
#include "communication/include/packet.h"
#include "communication/include/network.h"
#include <queue>
#include <vector>
@ -16,7 +16,8 @@ namespace icsneo {
class MessageDecoder {
public:
std::shared_ptr<Message> decodePacket(const std::shared_ptr<Communication::Packet>& message);
static uint64_t GetUInt64FromLEBytes(uint8_t* bytes);
std::shared_ptr<Message> decodePacket(const std::shared_ptr<Packet>& message);
private:
typedef uint16_t icscm_bitfield;

18
communication/include/packet.h 100644
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@ -0,0 +1,18 @@
#ifndef __PACKET_H_
#define __PACKET_H_
#include "communication/include/network.h"
#include <vector>
#include <stdint.h>
namespace icsneo {
class Packet {
public:
Network network;
std::vector<uint8_t> data;
};
}
#endif

6
communication/include/packetizer.h
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@ -11,7 +11,7 @@ namespace icsneo {
class Packetizer {
public:
bool input(const std::vector<uint8_t>& bytes);
std::vector<std::shared_ptr<Communication::Packet>> output();
std::vector<std::shared_ptr<Packet>> output();
private:
enum class ReadState {
@ -27,10 +27,10 @@ private:
int headerSize = 0;
bool checksum = false;
bool gotGoodPackets = false; // Tracks whether we've ever gotten a good packet
Communication::Packet packet;
Packet packet;
std::deque<uint8_t> bytes;
std::vector<std::shared_ptr<Communication::Packet>> processedPackets;
std::vector<std::shared_ptr<Packet>> processedPackets;
};
}

77
communication/messagedecoder.cpp
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@ -1,35 +1,44 @@
#include "communication/include/messagedecoder.h"
#include "communication/include/communication.h"
#include <iostream>
using namespace icsneo;
std::shared_ptr<Message> MessageDecoder::decodePacket(const std::shared_ptr<Communication::Packet>& packet) {
switch(packet->network.getType()) {
case Network::Type::CAN: {
if(packet->data.size() < 24)
break; // We would read garbage when interpereting the data
HardwareCANPacket* data = (HardwareCANPacket*)packet->data.data();
auto msg = std::make_shared<CANMessage>();
msg->network = packet->network;
msg->arbid = data->header.SID;
msg->data.reserve(data->dlc.DLC);
// Timestamp calculation
msg->timestamp = data->timestamp.TS * 25; // Timestamps are in 25ns increments since 1/1/2007 GMT 00:00:00.0000
for(auto i = 0; i < data->dlc.DLC; i++)
msg->data.push_back(data->data[i]);
return msg;
}
default:
// TODO Implement others
break;
}
auto msg = std::make_shared<Message>();
msg->network = packet->network;
msg->data = packet->data;
return msg;
#include "communication/include/messagedecoder.h"
#include "communication/include/communication.h"
#include "communication/include/command.h"
#include "device/include/device.h"
#include <iostream>
using namespace icsneo;
uint64_t MessageDecoder::GetUInt64FromLEBytes(uint8_t* bytes) {
uint64_t ret = 0;
for(int i = 0; i < 8; i++)
ret |= (bytes[i] << (i * 8));
return ret;
}
std::shared_ptr<Message> MessageDecoder::decodePacket(const std::shared_ptr<Packet>& packet) {
switch(packet->network.getType()) {
case Network::Type::CAN: {
if(packet->data.size() < 24)
break; // We would read garbage when interpereting the data
HardwareCANPacket* data = (HardwareCANPacket*)packet->data.data();
auto msg = std::make_shared<CANMessage>();
msg->network = packet->network;
msg->arbid = data->header.SID;
msg->data.reserve(data->dlc.DLC);
// Timestamp calculation
msg->timestamp = data->timestamp.TS * 25; // Timestamps are in 25ns increments since 1/1/2007 GMT 00:00:00.0000
for(auto i = 0; i < data->dlc.DLC; i++)
msg->data.push_back(data->data[i]);
return msg;
}
default:
// TODO Implement others
break;
}
auto msg = std::make_shared<Message>();
msg->network = packet->network;
msg->data = packet->data;
return msg;
}

4
communication/packetizer.cpp
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@ -103,8 +103,8 @@ bool Packetizer::input(const std::vector<uint8_t>& inputBytes) {
return processedPackets.size() > 0;
}
std::vector<std::shared_ptr<Communication::Packet>> Packetizer::output() {
std::vector<std::shared_ptr<Packet>> Packetizer::output() {
auto ret = std::move(processedPackets);
processedPackets = std::vector<std::shared_ptr<Communication::Packet>>(); // Reset the vector
processedPackets = std::vector<std::shared_ptr<Packet>>(); // Reset the vector
return ret;
}