Begin adding an encoder for messages

communication/include/communication.h

@@ -28,7 +28,7 @@ public:
 	virtual void spawnThreads();
 	virtual void joinThreads();
 	bool rawWrite(const std::vector<uint8_t>& bytes) { return impl->write(bytes); }
-	bool sendPacket(std::vector<uint8_t>& bytes);
+	virtual bool sendPacket(std::vector<uint8_t>& bytes);
 
 	virtual bool sendCommand(Command cmd, bool boolean) { return sendCommand(cmd, std::vector<uint8_t>({ (uint8_t)boolean })); }
 	virtual bool sendCommand(Command cmd, std::vector<uint8_t> arguments = {});

communication/include/encoder.h

@@ -0,0 +1,63 @@
+#ifndef __ENCODER_H_
+#define __ENCODER_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>
+#include <memory>
+
+#pragma pack(push, 1)
+
+namespace icsneo {
+
+class Encoder {
+public:
+	std::vector<uint8_t> encode(const std::shared_ptr<Message>& message);
+	std::vector<uint8_t> encode(Command cmd, bool boolean) { return encode(cmd, std::vector<uint8_t>({ (uint8_t)boolean })); }
+	std::vector<uint8_t> encode(Command cmd, std::vector<uint8_t> arguments = {});
+	
+private:
+	typedef uint16_t icscm_bitfield;
+	struct HardwareCANPacket {
+		struct {
+			icscm_bitfield IDE : 1;
+			icscm_bitfield SRR : 1;
+			icscm_bitfield SID : 11;
+			icscm_bitfield EDL : 1;
+			icscm_bitfield BRS : 1;
+			icscm_bitfield ESI : 1;
+		} header;
+		struct {
+			icscm_bitfield EID : 12;
+			icscm_bitfield TXMSG : 1;
+			icscm_bitfield TXAborted : 1;
+			icscm_bitfield TXLostArb : 1;
+			icscm_bitfield TXError : 1;
+		} eid;
+		struct {
+			icscm_bitfield DLC : 4;
+			icscm_bitfield RB0 : 1;
+			icscm_bitfield IVRIF : 1;
+			icscm_bitfield HVEnable : 1;// must be cleared before passing into CAN driver
+			icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
+			icscm_bitfield RB1 : 1;
+			icscm_bitfield RTR : 1;
+			icscm_bitfield EID : 6;
+		} dlc;
+		unsigned char data[8];
+		struct {
+			uint64_t TS : 60;
+			uint64_t : 3;
+			uint64_t IsExtended : 1;
+		} timestamp;
+	};
+};
+
+}
+
+#pragma pack(pop)
+
+#endif

communication/include/multichannelcommunication.h

@@ -10,9 +10,9 @@ namespace icsneo {
 class MultiChannelCommunication : public Communication {
 public:
 	MultiChannelCommunication(std::shared_ptr<ICommunication> com, std::shared_ptr<Packetizer> p, std::shared_ptr<Decoder> md) : Communication(com, p, md) {}
-	void spawnThreads();
-	void joinThreads();
-	bool sendCommand(Command cmd, std::vector<uint8_t> arguments);
+	void spawnThreads() override;
+	void joinThreads() override;
+	bool sendPacket(std::vector<uint8_t>& bytes) override;
 
 protected:
 	bool preprocessPacket(std::deque<uint8_t>& usbReadFifo);

communication/include/packetizer.h

@@ -11,7 +11,7 @@ namespace icsneo {
 class Packetizer {
 public:
 	static uint8_t ICSChecksum(const std::vector<uint8_t>& data);
-	std::vector<uint8_t>& packetWrap(std::vector<uint8_t>& data);
+	std::vector<uint8_t>& packetWrap(std::vector<uint8_t>& data, bool checksum = true);
 
 	bool input(const std::vector<uint8_t>& bytes);
 	std::vector<std::shared_ptr<Packet>> output();