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Communication: Add missing CAN error types

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This commit is contained in:
Jonathan Schwartz
2025-02-04 15:15:44 +00:00
committed by Kyle Schwarz
parent a22791c9e0
commit c5ba2d8d32
17 changed files with 126 additions and 69 deletions
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communication/packet/canpacket.cpp
+11 -9
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@@ -1,5 +1,5 @@
#include "icsneo/communication/packet/canpacket.h"
#include "icsneo/communication/message/canerrorcountmessage.h"
#include "icsneo/communication/message/canerrormessage.h"
using namespace icsneo;
@@ -53,16 +53,18 @@ static std::optional<uint8_t> CAN_LengthToDLC(size_t dataLength, bool fd)
return std::nullopt;
}
std::shared_ptr<Message> HardwareCANPacket::DecodeToMessage(const std::vector<uint8_t>& bytestream) {
const HardwareCANPacket* data = (const HardwareCANPacket*)bytestream.data();
if(data->dlc.RB1) { // Change counts reporting
const bool busOff = data->data[0] & 0b00100000;
auto msg = std::make_shared<CANErrorCountMessage>(data->data[2], data->data[1], busOff);
const HardwareCANErrorPacket* errPacket = (const HardwareCANErrorPacket*)bytestream.data();
if(errPacket->ERROR_INDICATOR) {
auto msg = std::make_shared<CANErrorMessage>();
msg->receiveErrorCount = errPacket->REC;
msg->transmitErrorCount = errPacket->TEC;
msg->errorWarn = HardwareCANErrorPacket::GetErrorWarn(errPacket->flags);
msg->errorPassive = HardwareCANErrorPacket::GetErrorPassive(errPacket->flags);
msg->busOff = HardwareCANErrorPacket::GetBusOff(errPacket->flags);
msg->errorCode = (CANErrorCode)errPacket->error_code;
msg->dataErrorCode = (CANErrorCode)errPacket->brs_data_error_code;
// This timestamp is raw off the device (in timestampResolution increments)
// Decoder will fix as it has information about the timestampResolution increments
msg->timestamp = data->timestamp.TS;