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C2: Add Ethernet message support

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This commit is contained in:
David Rebbe
2026-04-30 15:28:40 -04:00
committed by Kyle Schwarz
parent 87f45e060e
commit 9ae3e115fc
27 changed files with 2295 additions and 152 deletions
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communication/message/neomessage.cpp
+1 -1
View File
@@ -48,7 +48,7 @@ neomessage_t icsneo::CreateNeoMessage(const std::shared_ptr<Message> message) {
case Network::Type::AutomotiveEthernet: {
neomessage_eth_t& eth = *(neomessage_eth_t*)&neomsg;
auto ethmsg = std::static_pointer_cast<EthernetMessage>(message);
eth.preemptionFlags = ethmsg->preemptionFlags;
eth.preemptionFlags = ethmsg->preemptionFlags.value_or(0);
eth.status.incompleteFrame = ethmsg->frameTooShort;
// TODO Fill in extra status bits
//eth.status.xyz = ethmsg->preemptionEnabled;
communication/packet/ethernetpacket.cpp
+22 -15
View File
@@ -1,6 +1,7 @@
#include "icsneo/communication/packet/ethernetpacket.h"
#include <algorithm>
#include <iostream>
#include <optional>
using namespace icsneo;
@@ -24,9 +25,6 @@ std::shared_ptr<EthernetMessage> HardwareEthernetPacket::DecodeToMessage(const s
message.transmitted = packet->eid.TXMSG;
if(message.transmitted)
message.description = packet->stats;
message.preemptionEnabled = packet->header.PREEMPTION_ENABLED;
if(message.preemptionEnabled)
message.preemptionFlags = (uint8_t)((rawWords[0] & 0x03F8) >> 4);
message.frameTooShort = packet->header.RUNT_FRAME;
message.noPadding = !packet->header.ENABLE_PADDING;
message.fcsVerified = packet->header.FCS_VERIFIED;
@@ -39,15 +37,21 @@ std::shared_ptr<EthernetMessage> HardwareEthernetPacket::DecodeToMessage(const s
// Decoder will fix as it has information about the timestampResolution increments
message.timestamp = packet->timestamp.TS;
// Ethernet Frame Preemption for TSN
if(packet->header.PREEMPTION_ENABLED) {
message.preemptionFlags = static_cast<uint8_t>((rawWords[0] & 0x03F8) >> 4);
}
// Check if this is a T1S packet and populate T1S-specific fields
message.isT1S = packet->header.T1S_ETHERNET;
if(message.isT1S) {
message.isT1SSymbol = packet->eid.T1S_SYMBOL;
message.isT1SBurst = packet->eid.T1S_BURST;
message.txCollision = packet->t1s_status.TXCollision;
message.isT1SWake = packet->t1s_status.T1SWake;
message.t1sNodeId = packet->t1s_node.T1S_NODE_ID;
message.t1sBurstCount = packet->t1s_node.T1S_BURST_COUNT;
if(packet->header.T1S_ETHERNET) {
auto& t1s = message.t1s.emplace();
t1s.isSymbol = packet->eid.T1S_SYMBOL;
t1s.isBurst = packet->eid.T1S_BURST;
t1s.txCollision = packet->t1s_status.TXCollision;
t1s.isWake = packet->t1s_status.T1SWake;
t1s.nodeId = packet->t1s_node.T1S_NODE_ID;
t1s.burstCount = packet->t1s_node.T1S_BURST_COUNT;
}
const std::vector<uint8_t>::const_iterator databegin = bytestream.begin() + sizeof(HardwareEthernetPacket);
@@ -72,7 +76,7 @@ bool HardwareEthernetPacket::EncodeFromMessage(const EthernetMessage& message, s
if(description & 0x8000)
return false;
const bool preempt = message.preemptionEnabled;
const bool preempt = message.preemptionFlags.has_value();
// full header including parent
const size_t headerByteCount = preempt ? 15 : 14;
// local header for netID, description, and flags
@@ -121,12 +125,15 @@ bool HardwareEthernetPacket::EncodeFromMessage(const EthernetMessage& message, s
uint8_t flags = 0x00;
if(!message.noPadding) flags |= FLAG_PADDING;
if(message.fcs) flags |= FLAG_FCS;
if(message.preemptionEnabled) flags |= FLAG_PREEMPTION;
if(message.preemptionFlags.has_value()) {
flags |= FLAG_PREEMPTION;
}
bytestream.push_back(flags);
if(preempt)
bytestream.push_back(static_cast<uint8_t>(message.preemptionFlags));
if(preempt) {
bytestream.push_back(message.preemptionFlags.value());
}
bytestream.insert(bytestream.end(), message.data.begin(), message.data.end());