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Support Ethernet and Broad-R Reach TX and RX

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This commit is contained in:
Paul Hollinsky
2018-12-21 20:32:27 -05:00
parent 603d532d2d
commit d37d5bb23e
14 changed files with 490 additions and 209 deletions
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communication/decoder.cpp
+19 -71
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@@ -5,6 +5,8 @@
#include "icsneo/communication/message/readsettingsmessage.h"
#include "icsneo/communication/command.h"
#include "icsneo/device/device.h"
#include "icsneo/communication/packet/canpacket.h"
#include "icsneo/communication/packet/ethernetpacket.h"
#include <iostream>
using namespace icsneo;
@@ -18,82 +20,28 @@ uint64_t Decoder::GetUInt64FromLEBytes(uint8_t* bytes) {
bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Packet>& packet) {
switch(packet->network.getType()) {
case Network::Type::Ethernet:
result = HardwareEthernetPacket::DecodeToMessage(packet->data);
if(!result)
return false; // A nullptr was returned, the packet was not long enough to decode
// Timestamps are in (multiplier) ns increments since 1/1/2007 GMT 00:00:00.0000
// The resolution (multiplier) depends on the device
result->timestamp *= timestampMultiplier;
result->network = packet->network;
return true;
case Network::Type::CAN: {
if(packet->data.size() < 24)
return false;
HardwareCANPacket* data = (HardwareCANPacket*)packet->data.data();
auto msg = std::make_shared<CANMessage>();
msg->network = packet->network;
result = HardwareCANPacket::DecodeToMessage(packet->data);
if(!result)
return false; // A nullptr was returned, the packet was malformed
// Timestamp calculation
msg->timestamp = data->timestamp.TS * 25; // Timestamps are in 25ns increments since 1/1/2007 GMT 00:00:00.0000
// Arb ID
if(data->header.IDE) { // Extended 29-bit ID
msg->arbid = (data->header.SID & 0x7ff) << 18;
msg->arbid |= (data->eid.EID & 0xfff) << 6;
msg->arbid |= (data->dlc.EID2 & 0x3f);
msg->isExtended = true;
} else { // Standard 11-bit ID
msg->arbid = data->header.SID;
}
// DLC
uint8_t length = data->dlc.DLC;
msg->dlcOnWire = length; // This will hold the real DLC on wire 0x0 - 0xF
if(data->header.EDL && data->timestamp.IsExtended) { // CAN FD
msg->isCANFD = true;
msg->baudrateSwitch = data->header.BRS; // CAN FD Baudrate Switch
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;
}
}
} else if(length > 8) { // This is a standard CAN frame with a length of more than 8
// Yes, this is possible. On the wire, the length field is a nibble, and we do want to return an accurate value
// We don't want to overread our buffer, though, so make sure we cap the length
length = 8;
}
// Data
// The first 8 bytes are always in the standard place
if((data->dlc.RTR && data->header.IDE) || (!data->header.IDE && data->header.SRR)) { // Remote Request Frame
msg->data.resize(length); // This data will be all zeros, but the length will be set
msg->isRemote = true;
} else {
msg->data.reserve(length);
msg->data.insert(msg->data.end(), data->data, data->data + (length > 8 ? 8 : length));
if(length > 8) { // If there are more than 8 bytes, they come at the end of the message
// Messages with extra data are formatted as message, then uint16_t netid, then uint16_t length, then extra data
uint8_t* extraDataStart = packet->data.data() + sizeof(HardwareCANPacket) + 2 + 2;
msg->data.insert(msg->data.end(), extraDataStart, extraDataStart + (length - 8));
}
}
result = msg;
// Timestamps are in (multiplier) ns increments since 1/1/2007 GMT 00:00:00.0000
// The resolution (multiplier) depends on the device
result->timestamp *= timestampMultiplier;
result->network = packet->network;
return true;
}
case Network::Type::Internal: {