68 lines
2.5 KiB
C++
68 lines
2.5 KiB
C++
#include "communication/include/encoder.h"
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using namespace icsneo;
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std::vector<uint8_t> Encoder::encode(const std::shared_ptr<Message>& message) {
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bool shortFormat = false;
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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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shortFormat = true;
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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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// We expect the network byte to be populated already in data, but not the length
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uint16_t length = 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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}
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default:
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break;
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}
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break;
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}
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if(shortFormat) {
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message->data.insert(message->data.begin(), (message->data.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 = message->data.size() + 1 + 1 + 2 + 2;
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message->data.insert(message->data.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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return packetizer->packetWrap(message->data, shortFormat);
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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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} |