168 lines
6.5 KiB
C++
168 lines
6.5 KiB
C++
#include "icsneo/communication/encoder.h"
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#include "icsneo/communication/message/ethernetmessage.h"
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#include "icsneo/communication/message/main51message.h"
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#include "icsneo/communication/packet/ethernetpacket.h"
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#include "icsneo/communication/packet/iso9141packet.h"
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#include "icsneo/communication/packet/canpacket.h"
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using namespace icsneo;
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bool Encoder::encode(const Packetizer& packetizer, std::vector<uint8_t>& result, const std::shared_ptr<Message>& message) {
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bool shortFormat = false;
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bool useResultAsBuffer = false; // Otherwise it's expected that we use message->data
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result.clear();
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switch(message->network.getType()) {
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case Network::Type::Ethernet: {
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auto ethmsg = std::dynamic_pointer_cast<EthernetMessage>(message);
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if(!ethmsg) {
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report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
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return false; // The message was not a properly formed EthernetMessage
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}
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useResultAsBuffer = true;
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if(!HardwareEthernetPacket::EncodeFromMessage(*ethmsg, result, report))
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return false;
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break;
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} // End of Network::Type::Ethernet
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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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auto canmsg = std::dynamic_pointer_cast<CANMessage>(message);
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if(!canmsg) {
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report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
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return false; // The message was not a properly formed CANMessage
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}
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if(!supportCANFD && canmsg->isCANFD) {
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report(APIEvent::Type::CANFDNotSupported, APIEvent::Severity::Error);
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return false; // This device does not support CAN FD
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}
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useResultAsBuffer = true;
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if(!HardwareCANPacket::EncodeFromMessage(*canmsg, result, report))
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return false; // The CANMessage was malformed
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break;
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} // End of Network::Type::CAN
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case Network::Type::ISO9141: {
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auto isomsg = std::dynamic_pointer_cast<ISO9141Message>(message);
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if(!isomsg) {
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report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
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return false; // The message was not a properly formed ISO9141Message
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}
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// Skip the normal message wrapping at the bottom since we need to send multiple
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// packets to the device. This function just encodes them back to back into `result`
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return HardwareISO9141Packet::EncodeFromMessage(*isomsg, result, report, packetizer);
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} // End of Network::Type::ISO9141
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default:
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switch(message->network.getNetID()) {
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case Network::NetID::Device:
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shortFormat = true;
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break;
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case Network::NetID::Main51: {
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auto m51msg = std::dynamic_pointer_cast<Main51Message>(message);
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if(!m51msg) {
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report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
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return false; // The message was not a properly formed Main51Message
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}
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if(!m51msg->forceShortFormat) {
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// Main51 can be sent as a long message without setting the NetID to RED first
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// Size in long format is the size of the entire packet
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// So +1 for AA header, +1 for short format header, and +2 for long format size
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uint16_t size = uint16_t(message->data.size()) + 1 + 1 + 2;
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size += 1; // Even though we are not including the NetID bytes, the device expects them to be counted in the length
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size += 1; // Main51 Command
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message->data.insert(message->data.begin(), {
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(uint8_t)Network::NetID::Main51, // 0x0B for long message
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(uint8_t)size, // Size, little endian 16-bit
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(uint8_t)(size >> 8),
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(uint8_t)m51msg->command
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});
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result = packetizer.packetWrap(message->data, shortFormat);
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return true;
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} else {
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message->data.insert(message->data.begin(), { uint8_t(m51msg->command) });
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shortFormat = true;
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}
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break;
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}
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case Network::NetID::RED_OLDFORMAT: {
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// See the decoder for an explanation
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// We expect the network byte to be populated already in data, but not the length
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uint16_t length = uint16_t(message->data.size()) - 1;
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message->data.insert(message->data.begin(), {(uint8_t)length, (uint8_t)(length >> 8)});
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break;
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}
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default:
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report(APIEvent::Type::UnexpectedNetworkType, APIEvent::Severity::Error);
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return false;
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}
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}
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// Early returns may mean we don't reach this far, check the type you're concerned with
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auto& buffer = useResultAsBuffer ? result : message->data;
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if(shortFormat) {
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buffer.insert(buffer.begin(), (uint8_t(buffer.size()) << 4) | uint8_t(message->network.getNetID()));
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} else {
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// Size in long format is the size of the entire packet
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// So +1 for AA header, +1 for short format header, +2 for long format size, and +2 for long format NetID
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uint16_t size = uint16_t(buffer.size()) + 1 + 1 + 2 + 2;
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buffer.insert(buffer.begin(), {
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(uint8_t)Network::NetID::RED, // 0x0C for long message
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(uint8_t)size, // Size, little endian 16-bit
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(uint8_t)(size >> 8),
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(uint8_t)message->network.getNetID(), // NetID, little endian 16-bit
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(uint8_t)(uint16_t(message->network.getNetID()) >> 8)
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});
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}
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result = packetizer.packetWrap(buffer, shortFormat);
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return true;
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}
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bool Encoder::encode(const Packetizer& packetizer, std::vector<uint8_t>& result, Command cmd, std::vector<uint8_t> arguments) {
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std::shared_ptr<Message> msg;
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if(cmd == Command::UpdateLEDState) {
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/* NetID::Device is a super old command type.
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* It has a leading 0x00 byte, a byte for command, and a byte for an argument.
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* In this case, command 0x06 is SetLEDState.
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* This old command type is not really used anywhere else.
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*/
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msg = std::make_shared<Message>();
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if(arguments.empty()) {
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report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
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return false;
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}
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msg->network = Network::NetID::Device;
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msg->data.reserve(3);
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msg->data.push_back(0x00);
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msg->data.push_back(0x06); // SetLEDState
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msg->data.push_back(arguments.at(0)); // See Device::LEDState
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} else {
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auto m51msg = std::make_shared<Main51Message>();
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msg = m51msg;
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msg->network = Network::NetID::Main51;
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m51msg->command = cmd;
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switch(cmd) {
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case Command::ReadSettings:
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case Command::RequestSerialNumber:
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case Command::EnableNetworkCommunication:
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case Command::EnableNetworkCommunicationEx:
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case Command::GetMainVersion:
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case Command::GetSecondaryVersions:
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// There is a firmware handling idiosyncrasy with these commands
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// They must be encoded in the short format
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m51msg->forceShortFormat = true;
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default:
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break;
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}
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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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}
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return encode(packetizer, result, msg);
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} |