61 lines
2.2 KiB
C++
61 lines
2.2 KiB
C++
#include "communication/include/encoder.h"
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using namespace icsneo;
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std::shared_ptr<Message> Encoder::encode(const std::shared_ptr<Message>& message) {
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switch(message->network.getType()) {
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// case Network::Type::CAN: {
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// if(message->data.size() < 24)
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// break; // We would read garbage when interpereting the data
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// HardwareCANPacket* data = (HardwareCANPacket*)message->data.data();
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// auto msg = std::make_shared<CANMessage>();
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// msg->network = message->network;
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// msg->arbid = data->header.SID;
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// msg->data.reserve(data->dlc.DLC);
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// // Timestamp calculation
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// msg->timestamp = data->timestamp.TS * 25; // Timestamps are in 25ns increments since 1/1/2007 GMT 00:00:00.0000
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// for(auto i = 0; i < data->dlc.DLC; i++)
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// msg->data.push_back(data->data[i]);
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// return msg;
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// }
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default:
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switch(message->network.getNetID()) {
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case Network::NetID::Main51:
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if(message->data.size() > 0xF) {
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message->network = Network::NetID::RED_OLDFORMAT;
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message->data.insert(message->data.begin(), 0x10 | (uint8_t)Network::NetID::Main51);
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return encode(message);
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}
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message->data.insert(message->data.begin(), (message->data.size() << 4) | (uint8_t)Network::NetID::Main51);
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data.in
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break;
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case Network::NetID::RED_OLDFORMAT: {
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// See the decoder for an explanation
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uint16_t length = message->data[0] | (message->data[1] << 8);
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message->network = Network(message->data[2] & 0xF);
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message->data.erase(message->data.begin(), message->data.begin() + 3);
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if(message->data.size() != length)
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message->data.resize(length);
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return decodePacket(message);
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}
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}
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break;
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}
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auto msg = std::make_shared<Message>();
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msg->network = message->network;
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msg->data = message->data;
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return msg;
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}
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std::vector<uint8_t> Encoder::encode(Command cmd, std::vector<uint8_t> arguments = {}) {
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auto msg = std::make_shared<Message>();
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msg->network = Network::NetID::Main51;
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msg->data.resize(arguments.size() + 1);
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msg->data.push_back((uint8_t)cmd);
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msg->data.insert(msg->data.end(), std::make_move_iterator(arguments.begin()), std::make_move_iterator(arguments.end()));
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return encode(msg);
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} |