added icsneo_can_message_free

api/icsneo/icsneo.cpp

@@ -9,7 +9,7 @@
 
 #include <string>
 #include <vector>
-#include <deque>
+#include <list>
 #include <algorithm>
 
 using namespace icsneo;
@@ -19,8 +19,8 @@ typedef struct icsneo_device_t {
     // Received messages from the device, we can automatically free them without the user.
     std::vector<std::shared_ptr<icsneo_message_t>> messages;
     // Seperate buffer for transmit messages for simplicity. User is responsible for freeing.
-    // This needs to be a deque so that pointers aren't invalidated on push_back.
-    std::deque<std::shared_ptr<icsneo_message_t>> tx_messages;
+    // This needs to be a list so that pointers aren't invalidated on push_back or erase.
+    std::list<std::shared_ptr<icsneo_message_t>> tx_messages;
     std::vector<icsneo_event_t> events;
 
     icsneo_open_options_t options;
@@ -34,7 +34,6 @@ typedef struct icsneo_device_t {
         events.clear();
         events.shrink_to_fit();
         tx_messages.clear();
-        tx_messages.shrink_to_fit();
     }
 } icsneo_device_t;
 
@@ -438,7 +437,7 @@ ICSNEO_API icsneo_error_t icsneo_device_transmit_messages(icsneo_device_t* devic
     auto dev = device->device;
     uint32_t i = 0;
     bool success = false;
-    for (;i < *messages_count; i++) {
+    for (; i < *messages_count; i++) {
         // TODO: Check if message is valid
         success = dev->transmit(std::static_pointer_cast<icsneo::BusMessage>(messages[i]->message));
         if (!success) {
@@ -525,6 +524,47 @@ ICSNEO_API icsneo_error_t icsneo_get_netid_name(icsneo_netid_t netid, const char
     return safe_str_copy(value, value_length, netid_str) ? icsneo_error_success : icsneo_error_string_copy_failed;
 }
 
+ICSNEO_API icsneo_error_t icsneo_message_set_netid(icsneo_device_t* device, icsneo_message_t* message, icsneo_netid_t netid) {
+    if (!device || !message) {
+        return icsneo_error_invalid_parameters;
+    }
+    // TODO: Check if device is valid
+    // TODO: Check if message is valid
+    // Make sure the message has the data field, internal and bus currently have this.
+    if (message->message->getMsgType() != icsneo_msg_type_internal && message->message->getMsgType() != icsneo_msg_type_bus) {
+        return icsneo_error_invalid_type;
+    }
+    auto* internal_message = dynamic_cast<InternalMessage*>(message->message.get());
+    if (!internal_message) {
+        return icsneo_error_invalid_type;
+    }
+    internal_message->network = Network(static_cast<_icsneo_netid_t>(netid), true);
+
+    return icsneo_error_success;
+}
+
+ICSNEO_API icsneo_error_t icsneo_message_set_data(icsneo_device_t* device, icsneo_message_t* message, uint8_t* data, uint32_t data_length) {
+        if (!device || !message | !data) {
+        return icsneo_error_invalid_parameters;
+    }
+    // TODO: Check if device is valid
+    // TODO: Check if message is valid
+    // Make sure the message has the data field, internal and bus currently have this.
+    if (message->message->getMsgType() != icsneo_msg_type_internal && message->message->getMsgType() != icsneo_msg_type_bus) {
+        return icsneo_error_invalid_type;
+    }
+    auto* internal_message = dynamic_cast<InternalMessage*>(message->message.get());
+    if (!internal_message) {
+        return icsneo_error_invalid_type;
+    }
+    internal_message->data.clear();
+    internal_message->data.resize(data_length);
+    internal_message->data.shrink_to_fit();
+    std::copy(data, data + data_length, internal_message->data.begin());
+
+    return icsneo_error_success;
+}
+
 ICSNEO_API icsneo_error_t icsneo_message_get_data(icsneo_device_t* device, icsneo_message_t* message, uint8_t* data, uint32_t* data_length) {
     if (!device || !message || !data || !data_length) {
         return icsneo_error_invalid_parameters;
@@ -563,6 +603,22 @@ ICSNEO_API icsneo_error_t icsneo_can_message_get_arbid(icsneo_device_t* device,
     return icsneo_error_success;
 }
 
+ICSNEO_API icsneo_error_t icsneo_can_message_set_arbid(icsneo_device_t* device, icsneo_message_t* message, uint32_t value) {
+    if (!device || !message) {
+        return icsneo_error_invalid_parameters;
+    }
+    // TODO: Check if device is valid
+    // TODO: Check if message is valid
+    auto* const can_message = dynamic_cast<CANMessage*>(message->message.get());
+    if (!can_message) {
+        return icsneo_error_invalid_type;
+    }
+
+    can_message->arbid = value;
+
+    return icsneo_error_success;
+}
+
 ICSNEO_API icsneo_error_t icsneo_can_message_get_dlc_on_wire(icsneo_device_t* device, icsneo_message_t* message, uint32_t* value) {
     if (!device || !message || !value) {
         return icsneo_error_invalid_parameters;
@@ -579,6 +635,22 @@ ICSNEO_API icsneo_error_t icsneo_can_message_get_dlc_on_wire(icsneo_device_t* de
     return icsneo_error_success;
 }
 
+ICSNEO_API icsneo_error_t icsneo_can_message_set_dlc_on_wire(icsneo_device_t* device, icsneo_message_t* message, uint32_t value) {
+    if (!device || !message) {
+        return icsneo_error_invalid_parameters;
+    }
+    // TODO: Check if device is valid
+    // TODO: Check if message is valid
+    auto* const can_message = dynamic_cast<CANMessage*>(message->message.get());
+    if (!can_message) {
+        return icsneo_error_invalid_type;
+    }
+
+    can_message->dlcOnWire = static_cast<uint8_t>(value);
+
+    return icsneo_error_success;
+}
+
 ICSNEO_API icsneo_error_t icsneo_can_message_is_remote(icsneo_device_t* device, icsneo_message_t* message, bool* value) {
     if (!device || !message || !value) {
         return icsneo_error_invalid_parameters;
@@ -595,6 +667,22 @@ ICSNEO_API icsneo_error_t icsneo_can_message_is_remote(icsneo_device_t* device,
     return icsneo_error_success;
 }
 
+ICSNEO_API icsneo_error_t icsneo_can_message_set_remote(icsneo_device_t* device, icsneo_message_t* message, bool value) {
+    if (!device || !message) {
+        return icsneo_error_invalid_parameters;
+    }
+    // TODO: Check if device is valid
+    // TODO: Check if message is valid
+    auto* const can_message = dynamic_cast<CANMessage*>(message->message.get());
+    if (!can_message) {
+        return icsneo_error_invalid_type;
+    }
+
+    can_message->isRemote = value;
+
+    return icsneo_error_success;
+}
+
 ICSNEO_API icsneo_error_t icsneo_can_message_is_extended(icsneo_device_t* device, icsneo_message_t* message, bool* value) {
     if (!device || !message || !value) {
         return icsneo_error_invalid_parameters;
@@ -611,6 +699,22 @@ ICSNEO_API icsneo_error_t icsneo_can_message_is_extended(icsneo_device_t* device
     return icsneo_error_success;
 }
 
+ICSNEO_API icsneo_error_t icsneo_can_message_set_extended(icsneo_device_t* device, icsneo_message_t* message, bool value) {
+    if (!device || !message) {
+        return icsneo_error_invalid_parameters;
+    }
+    // TODO: Check if device is valid
+    // TODO: Check if message is valid
+    auto* const can_message = dynamic_cast<CANMessage*>(message->message.get());
+    if (!can_message) {
+        return icsneo_error_invalid_type;
+    }
+
+    can_message->isExtended = value;
+
+    return icsneo_error_success;
+}
+
 ICSNEO_API icsneo_error_t icsneo_can_message_is_canfd(icsneo_device_t* device, icsneo_message_t* message, bool* value) {
     if (!device || !message || !value) {
         return icsneo_error_invalid_parameters;
@@ -627,6 +731,22 @@ ICSNEO_API icsneo_error_t icsneo_can_message_is_canfd(icsneo_device_t* device, i
     return icsneo_error_success;
 }
 
+ICSNEO_API icsneo_error_t icsneo_can_message_set_canfd(icsneo_device_t* device, icsneo_message_t* message, bool value) {
+    if (!device || !message) {
+        return icsneo_error_invalid_parameters;
+    }
+    // TODO: Check if device is valid
+    // TODO: Check if message is valid
+    auto* const can_message = dynamic_cast<CANMessage*>(message->message.get());
+    if (!can_message) {
+        return icsneo_error_invalid_type;
+    }
+
+    can_message->isCANFD = value;
+
+    return icsneo_error_success;
+}
+
 ICSNEO_API icsneo_error_t icsneo_can_message_get_baudrate_switch(icsneo_device_t* device, icsneo_message_t* message, bool* value) {
     if (!device || !message || !value) {
         return icsneo_error_invalid_parameters;
@@ -643,6 +763,22 @@ ICSNEO_API icsneo_error_t icsneo_can_message_get_baudrate_switch(icsneo_device_t
     return icsneo_error_success;
 }
 
+ICSNEO_API icsneo_error_t icsneo_can_message_set_baudrate_switch(icsneo_device_t* device, icsneo_message_t* message, bool value) {
+    if (!device || !message) {
+        return icsneo_error_invalid_parameters;
+    }
+    // TODO: Check if device is valid
+    // TODO: Check if message is valid
+    auto* const can_message = dynamic_cast<CANMessage*>(message->message.get());
+    if (!can_message) {
+        return icsneo_error_invalid_type;
+    }
+
+    can_message->baudrateSwitch = value;
+
+    return icsneo_error_success;
+}
+
 ICSNEO_API icsneo_error_t icsneo_can_message_get_error_state_indicator(icsneo_device_t* device, icsneo_message_t* message, bool* value) {
     if (!device || !message || !value) {
         return icsneo_error_invalid_parameters;
@@ -676,6 +812,23 @@ ICSNEO_API icsneo_error_t icsneo_can_messages_create(icsneo_device_t* device, ic
     return icsneo_error_success;
 }
 
+ICSNEO_API icsneo_error_t icsneo_can_message_free(icsneo_device_t* device, icsneo_message_t* message) {
+    if (!device || !message) {
+        return icsneo_error_invalid_parameters;
+    }
+    // TODO: Check if device is valid
+    bool removed = false;
+    for (auto it = device->tx_messages.begin(); it != device->tx_messages.end(); it++) {
+        if (it->get() == message) {
+            device->tx_messages.erase(it);
+            removed = true;
+            message = nullptr;
+            break;
+        }
+    }    
+    return removed ? icsneo_error_success : icsneo_error_invalid_parameters;
+}
+
 ICSNEO_API icsneo_error_t icsneo_get_events(icsneo_event_t** events, uint32_t* events_count) {
     if (!events || !events_count) {
         return icsneo_error_invalid_parameters;

include/icsneo/icsneo.h

@@ -387,13 +387,33 @@ ICSNEO_API icsneo_error_t icsneo_message_get_netid(icsneo_device_t* device, icsn
  */
 ICSNEO_API icsneo_error_t icsneo_get_netid_name(icsneo_netid_t netid, const char* value, uint32_t* value_length);
 
+/** @brief Set the Network ID (netid) of a bus message
+ * 
+ * @param[in] icsneo_device_t* device The device to check against.
+ * @param[in] icsneo_message_t* message The message to check.
+ * @param[in] icsneo_netid_t netid The netid to set.
+ * 
+ * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
+ */
+ICSNEO_API icsneo_error_t icsneo_message_set_netid(icsneo_device_t* device, icsneo_message_t* message, icsneo_netid_t netid);
+
+/** @brief Set the data bytes of a message 
+ * 
+ * @param[in] icsneo_device_t* device The device to check against.
+ * @param[in] icsneo_message_t* message The message to copy the data into.
+ * @param[out] uint8_t* data Pointer to a uint8_t array to copy from.
+ * @param[in] uint32_t data_length length of the data.
+ * 
+ * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
+*/
+ICSNEO_API icsneo_error_t icsneo_message_set_data(icsneo_device_t* device, icsneo_message_t* message, uint8_t* data, uint32_t data_length);
 
 /** @brief Get the data bytes of a message 
  * 
  * @param[in] icsneo_device_t* device The device to check against.
  * @param[in] icsneo_message_t* message The message to check.
  * @param[out] uint8_t* data Pointer to a uint8_t to copy the data bytes into.
- * @param[out] uint32_t* data_length Pointer to a uint32_t to copy the length of the data into.
+ * @param[in,out] uint32_t* data_length Pointer to a uint32_t to copy the length of the data into.
  * 
  * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
 */
@@ -409,6 +429,16 @@ ICSNEO_API icsneo_error_t icsneo_message_get_data(icsneo_device_t* device, icsne
 */
 ICSNEO_API icsneo_error_t icsneo_can_message_get_arbid(icsneo_device_t* device, icsneo_message_t* message, uint32_t* value);
 
+/** @brief Set the Arbitration ID of a CAN message 
+ * 
+ * @param[in] icsneo_device_t* device The device to check against.
+ * @param[in] icsneo_message_t* message The message to check.
+ * @param[out] uint32_t value Arbitration ID to set.
+ * 
+ * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
+*/
+ICSNEO_API icsneo_error_t icsneo_can_message_set_arbid(icsneo_device_t* device, icsneo_message_t* message, uint32_t value);
+
 /** @brief Get the DLC on wire of a CAN message 
  * 
  * @param[in] icsneo_device_t* device The device to check against.
@@ -419,7 +449,17 @@ ICSNEO_API icsneo_error_t icsneo_can_message_get_arbid(icsneo_device_t* device,
 */
 ICSNEO_API icsneo_error_t icsneo_can_message_get_dlc_on_wire(icsneo_device_t* device, icsneo_message_t* message, uint32_t* value);
 
-/** @brief Get the remote status of a CAN message 
+/** @brief Set the DLC on wire of a CAN message 
+ * 
+ * @param[in] icsneo_device_t* device The device to check against.
+ * @param[in] icsneo_message_t* message The message to check.
+ * @param[out] uint32_t value DLC to set.
+ * 
+ * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
+*/
+ICSNEO_API icsneo_error_t icsneo_can_message_set_dlc_on_wire(icsneo_device_t* device, icsneo_message_t* message, uint32_t value);
+
+/** @brief Get the Remote Transmission Request (RTR) status of a CAN message 
  * 
  * @param[in] icsneo_device_t* device The device to check against.
  * @param[in] icsneo_message_t* message The message to check.
@@ -429,6 +469,16 @@ ICSNEO_API icsneo_error_t icsneo_can_message_get_dlc_on_wire(icsneo_device_t* de
 */
 ICSNEO_API icsneo_error_t icsneo_can_message_is_remote(icsneo_device_t* device, icsneo_message_t* message, bool* value);
 
+/** @brief Set the Remote Transmission Request (RTR) of a CAN message 
+ * 
+ * @param[in] icsneo_device_t* device The device to check against.
+ * @param[in] icsneo_message_t* message The message to modify.
+ * @param[out] bool value Remote status to set.
+ * 
+ * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
+*/
+ICSNEO_API icsneo_error_t icsneo_can_message_set_remote(icsneo_device_t* device, icsneo_message_t* message, bool* value);
+
 /** @brief Get the extended status of a CAN message 
  * 
  * @param[in] icsneo_device_t* device The device to check against.
@@ -439,6 +489,16 @@ ICSNEO_API icsneo_error_t icsneo_can_message_is_remote(icsneo_device_t* device,
 */
 ICSNEO_API icsneo_error_t icsneo_can_message_is_extended(icsneo_device_t* device, icsneo_message_t* message, bool* value);
 
+/** @brief Set the extended status of a CAN message 
+ * 
+ * @param[in] icsneo_device_t* device The device to check against.
+ * @param[in] icsneo_message_t* message The message to modify.
+ * @param[out] bool value Extended status to set.
+ * 
+ * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
+*/
+ICSNEO_API icsneo_error_t icsneo_can_message_set_extended(icsneo_device_t* device, icsneo_message_t* message, bool value);
+
 /** @brief Get the CANFD status of a CAN message 
  * 
  * @param[in] icsneo_device_t* device The device to check against.
@@ -449,16 +509,36 @@ ICSNEO_API icsneo_error_t icsneo_can_message_is_extended(icsneo_device_t* device
 */
 ICSNEO_API icsneo_error_t icsneo_can_message_is_canfd(icsneo_device_t* device, icsneo_message_t* message, bool* value);
 
-/** @brief Get the baudrate switch status of a CAN message 
+/** @brief Set the CANFD status of a CAN message 
+ * 
+ * @param[in] icsneo_device_t* device The device to check against.
+ * @param[in] icsneo_message_t* message The message to modify.
+ * @param[out] bool value CANFD status to set.
+ * 
+ * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
+*/
+ICSNEO_API icsneo_error_t icsneo_can_message_set_canfd(icsneo_device_t* device, icsneo_message_t* message, bool value);
+
+/** @brief Get the baudrate switch status (BRS) of a CAN message 
  * 
  * @param[in] icsneo_device_t* device The device to check against.
  * @param[in] icsneo_message_t* message The message to check.
- * @param[out] bool* value Pointer to a uint32_t to copy the baudrate switch status into.
+ * @param[out] bool* value Pointer to a uint32_t to copy the baudrate switch (BRS) status into.
  * 
  * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
 */
 ICSNEO_API icsneo_error_t icsneo_can_message_get_baudrate_switch(icsneo_device_t* device, icsneo_message_t* message, bool* value);
 
+/** @brief Set the baudrate switch status (BRS) of a CAN message 
+ * 
+ * @param[in] icsneo_device_t* device The device to check against.
+ * @param[in] icsneo_message_t* message The message to modify.
+ * @param[out] bool value baudrate switch status (BRS) to set.
+ * 
+ * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
+*/
+ICSNEO_API icsneo_error_t icsneo_can_message_set_baudrate_switch(icsneo_device_t* device, icsneo_message_t* message, bool value);
+
 /** @brief Get the error state indicator status of a CAN message 
  * 
  * @param[in] icsneo_device_t* device The device to check against.
@@ -480,6 +560,19 @@ ICSNEO_API icsneo_error_t icsneo_can_message_get_error_state_indicator(icsneo_de
  */
 ICSNEO_API icsneo_error_t icsneo_can_messages_create(icsneo_device_t* device, icsneo_message_t** messages, uint32_t messages_count);
 
+/** @brief Free CAN messages for a device
+ * 
+ * @param[in] icsneo_device_t device The device to free the messages of.
+ * @param[in] icsneo_message_t* message The message to free.
+ * 
+ * @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
+ * 
+ * @warning This function should only be called on messages created by icsneo_can_messages_create.
+ * 
+ * @see icsneo_can_messages_create
+ */
+ICSNEO_API icsneo_error_t icsneo_can_message_free(icsneo_device_t* device, icsneo_message_t* message);
+
 /** @brief Get the global events not specifically related to a device.
  * 
  * @param[out] icsneo_event_t** events Pointer to an array of icsneo_event_t to copy the events into.