mirror of
https://github.com/intrepidcs/libicsneo.git
synced 2026-08-05 09:28:40 +02:00
Paul Hollinsky
7cf0ec5f4f
We've also decided to leave it out of the message structures since, for most uses going forward, it will not be needed. Anyone who wants the timestamp resolution can always make the inexpensive device call to get it.
77 lines
2.7 KiB
C++
77 lines
2.7 KiB
C++
#include "icsneo/communication/message/neomessage.h"
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#include "icsneo/communication/message/canmessage.h"
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#include "icsneo/communication/message/ethernetmessage.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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neomsg.status.globalError = message->error;
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neomsg.status.transmitMessage = message->transmitted;
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switch(type) {
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case Network::Type::CAN:
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case Network::Type::SWCAN:
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case Network::Type::LSFTCAN: {
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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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can.status.canfdESI = canmsg->errorStateIndicator;
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break;
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}
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case Network::Type::Ethernet: {
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neomessage_eth_t& eth = *(neomessage_eth_t*)&neomsg;
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auto ethmsg = std::static_pointer_cast<EthernetMessage>(message);
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eth.preemptionFlags = ethmsg->preemptionFlags;
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eth.status.incompleteFrame = ethmsg->frameTooShort;
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// TODO Fill in extra status bits
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//eth.status.xyz = ethmsg->preemptionEnabled;
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//eth.status.xyz = ethmsg->fcsAvailable;
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//eth.status.xyz = ethmsg->noPadding;
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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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case Network::Type::SWCAN:
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case Network::Type::LSFTCAN: {
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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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canmsg->errorStateIndicator = can.status.canfdESI;
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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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} |