57 lines
1.9 KiB
C++
57 lines
1.9 KiB
C++
#include "communication/message/include/neomessage.h"
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#include "communication/message/include/canmessage.h"
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using namespace icsneo;
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neomessage_t icsneo::CreateNeoMessage(const std::shared_ptr<Message> message) {
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// This function is not responsible for storing the message!
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// Keep the shared_ptr around for the lifetime of the data access
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const auto type = message->network.getType();
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neomessage_t neomsg = {}; // Clear out the memory
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neomsg.netid = (uint32_t)message->network.getNetID();
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neomsg.type = (uint8_t)type;
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neomsg.length = message->data.size();
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neomsg.data = message->data.data();
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neomsg.timestamp = message->timestamp;
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switch(type) {
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case Network::Type::CAN: {
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neomessage_can_t& can = *(neomessage_can_t*)&neomsg;
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auto canmsg = std::static_pointer_cast<CANMessage>(message);
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can.arbid = canmsg->arbid;
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can.dlcOnWire = canmsg->dlcOnWire;
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can.status.extendedFrame = canmsg->isExtended;
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can.status.remoteFrame = canmsg->isRemote;
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can.status.canfdRTR = canmsg->isRemote;
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can.status.canfdFDF = canmsg->isCANFD;
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can.status.canfdBRS = canmsg->baudrateSwitch;
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break;
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}
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default:
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// TODO Implement others
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break;
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}
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return neomsg;
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}
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std::shared_ptr<Message> icsneo::CreateMessageFromNeoMessage(const neomessage_t* neomessage) {
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const Network network = neomessage->netid;
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switch(network.getType()) {
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case Network::Type::CAN: {
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neomessage_can_t& can = *(neomessage_can_t*)neomessage;
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auto canmsg = std::make_shared<CANMessage>();
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canmsg->network = network;
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canmsg->data.insert(canmsg->data.end(), can.data, can.data + can.length);
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canmsg->arbid = can.arbid;
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canmsg->isExtended = can.status.extendedFrame;
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canmsg->isRemote = can.status.remoteFrame | can.status.canfdRTR;
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canmsg->isCANFD = can.status.canfdFDF;
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canmsg->baudrateSwitch = can.status.canfdBRS;
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return canmsg;
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}
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default:
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// TODO Implement others
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return std::shared_ptr<Message>();
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}
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} |