77 lines
2.7 KiB
C++
77 lines
2.7 KiB
C++
#include "icsneo/communication/packet/flexraypacket.h"
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using namespace icsneo;
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std::shared_ptr<FlexRayMessage> HardwareFlexRayPacket::DecodeToMessage(const std::vector<uint8_t>& bytestream) {
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const HardwareFlexRayPacket* data = (const HardwareFlexRayPacket*)bytestream.data();
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if(!data->timestamp.IsExtended) // We can only process "extended" frames here
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return nullptr;
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auto msg = std::make_shared<FlexRayMessage>();
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// This timestamp is raw off the device (in timestampResolution increments)
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// Decoder will fix as it has information about the timestampResolution increments
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msg->timestamp = data->timestamp.TS;
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// Always get the frame length, even for a symbol
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msg->framelen = data->frame_length_12_5ns * 12.5e-9;
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msg->channel = data->statusBits.bits.chb ? icsneo::FlexRay::Channel::B : icsneo::FlexRay::Channel::A;
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if(data->tss_length_12_5ns == 0xffff) {// Flag value meaning this is a symbol
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// These values are only for 10Mbit
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// That's the only baudrate supported for now
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if (data->frame_length_12_5ns > 480)
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msg->symbol = FlexRay::Symbol::Wakeup;
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else if (data->frame_length_12_5ns > 264)
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msg->symbol = FlexRay::Symbol::CAS;
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else
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msg->symbol = FlexRay::Symbol::Unknown;
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} else {
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msg->tsslen = data->tss_length_12_5ns * 12.5e-9;
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if(data->statusBits.bits.bytesRxed >= 5) {
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if(data->statusBits.bits.hcrc_error)
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msg->headerCRCStatus = FlexRay::CRCStatus::Error;
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} else {
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msg->headerCRCStatus = FlexRay::CRCStatus::NoCRC;
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}
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uint32_t numBytes = data->payload_len * 2;
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if(int64_t(numBytes) >= int64_t(data->Length) - 4) {
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if(data->statusBits.bits.fcrc_error)
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msg->crcStatus = FlexRay::CRCStatus::Error;
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} else {
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msg->crcStatus = FlexRay::CRCStatus::NoCRC;
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}
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if(data->statusBits.bits.bytesRxed >= 5) { // Received entire header
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msg->headerCRC = (data->hdr_crc_10 << 10) | data->hdr_crc_9_0;
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if(msg->headerCRCStatus != FlexRay::CRCStatus::Error) {
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msg->reserved0was1 = data->reserved_0;
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msg->payloadPreamble = data->payload_preamble;
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msg->nullFrame = !data->null_frame;
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msg->sync = data->sync;
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msg->startup = data->startup;
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msg->slotid = data->slotid;
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msg->cycle = data->cycle;
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msg->dynamic = data->statusBits.bits.dynamic;
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if(int64_t(numBytes) != int64_t(data->Length) - 4) {
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// This is an error, probably need to flag it
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} else {
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const uint8_t* dataStart = (const uint8_t*)(data) - 4 + sizeof(HardwareFlexRayPacket);
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msg->data = std::vector<uint8_t>(dataStart, dataStart + numBytes);
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}
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}
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}
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}
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return msg;
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}
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bool HardwareFlexRayPacket::EncodeFromMessage(const FlexRayMessage& message, std::vector<uint8_t>& bytestream, const device_eventhandler_t& report) {
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(void)message;
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(void)bytestream;
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(void)report;
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return false;
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}
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