Allow polling for messages from C

communication/message/include/neomessage.h

@@ -0,0 +1,34 @@
+#ifndef __NEOMESSAGE_H_
+#define __NEOMESSAGE_H_
+
+#include <stdint.h>
+
+typedef struct {
+	uint16_t netid;
+	uint8_t type;
+	char header[4];
+	const uint8_t* data;
+	size_t length;
+	uint64_t timestamp;
+	char reserved[8];
+} neomessage_t;
+
+typedef struct {
+	uint16_t netid;
+	uint8_t type;
+	uint32_t arbid;
+	const uint8_t* data;
+	size_t length;
+	uint64_t timestamp;
+	char reserved[8];
+} neomessage_can_t;
+
+#ifdef __cplusplus
+#include "communication/message/include/message.h"
+
+namespace icsneo {
+	neomessage_t CreateNeoMessage(const Message& message);
+};
+#endif
+
+#endif

communication/message/neomessage.cpp

@@ -0,0 +1,24 @@
+#include "communication/message/include/neomessage.h"
+#include "communication/message/include/canmessage.h"
+
+using namespace icsneo;
+
+neomessage_t icsneo::CreateNeoMessage(const 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 = { 0 }; // Clear out the memory
+	neomsg.netid = (uint32_t)message.network.getNetID();
+	neomsg.type = (uint8_t)type;
+	neomsg.length = message.data.size();
+	neomsg.data = message.data.data();
+	neomsg.timestamp = message.timestamp;
+
+	switch(type) {
+		case Network::Type::CAN:
+			((neomessage_can_t*)&neomsg)->arbid = ((const CANMessage*)&message)->arbid;
+			break;
+	}
+
+	return neomsg;
+}