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CAN and CAN FD transmit implemented

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This commit is contained in:
Paul Hollinsky
2018-10-18 17:39:37 -04:00
parent dd99f82324
commit d037709963
8 changed files with 213 additions and 82 deletions
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communication/decoder.cpp
+33 -42
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@@ -43,40 +43,32 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
if(data->header.EDL && data->timestamp.IsExtended) { // CAN FD
msg->isCANFD = true;
msg->baudrateSwitch = data->header.BRS; // CAN FD Baudrate Switch
switch(length) { // CAN FD Length Decoding
case 0x0:
case 0x1:
case 0x2:
case 0x3:
case 0x4:
case 0x5:
case 0x6:
case 0x7:
case 0x8:
break; // The length is already correct
case 0x9:
length = 12;
break;
case 0xa:
length = 16;
break;
case 0xb:
length = 20;
break;
case 0xc:
length = 24;
break;
case 0xd:
length = 32;
break;
case 0xe:
length = 48;
break;
case 0xf:
length = 64;
break;
default:
return false;
if(length > 8) {
switch(length) { // CAN FD Length Decoding
case 0x9:
length = 12;
break;
case 0xa:
length = 16;
break;
case 0xb:
length = 20;
break;
case 0xc:
length = 24;
break;
case 0xd:
length = 32;
break;
case 0xe:
length = 48;
break;
case 0xf:
length = 64;
break;
default:
return false;
}
}
}
@@ -128,7 +120,7 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
return true;
}
default:
return false;
break;//return false;
}
}
default:
@@ -177,11 +169,10 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
}
}
return false;
// auto msg = std::make_shared<Message>();
// msg->network = packet->network;
// msg->data = packet->data;
// result = msg;
// return true;
// For the moment other types of messages will automatically be decoded as raw messages
auto msg = std::make_shared<Message>();
msg->network = packet->network;
msg->data = packet->data;
result = msg;
return true;
}