280 lines
10 KiB
C++
280 lines
10 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/livedatamessage.h"
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#include "icsneo/communication/message/main51message.h"
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#include "icsneo/communication/packet/livedatapacket.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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#include "icsneo/communication/packet/ethphyregpacket.h"
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#include "icsneo/communication/message/ethphymessage.h"
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#include "icsneo/communication/packet/i2cpacket.h"
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#include "icsneo/communication/message/i2cmessage.h"
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#include "icsneo/communication/packet/a2bpacket.h"
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#include "icsneo/communication/packet/linpacket.h"
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#include "icsneo/communication/packet/mdiopacket.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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std::vector<uint8_t>* buffer = &result;
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uint16_t netid = 0;
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result.clear();
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switch(message->type) {
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case Message::Type::Frame: {
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auto frame = std::dynamic_pointer_cast<Frame>(message);
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// Frame uses frame->data as the buffer unless directed otherwise
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buffer = &frame->data;
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netid = uint16_t(frame->network.getNetID());
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switch(frame->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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buffer = &result;
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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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buffer = &result;
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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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case Network::Type::A2B: {
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auto a2bmsg = std::dynamic_pointer_cast<A2BMessage>(message);
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if(!a2bmsg) {
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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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buffer = &result;
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if(!HardwareA2BPacket::EncodeFromMessage(*a2bmsg, result, report)) {
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return false;
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}
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break;
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} // End of Network::Type::A2B
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case Network::Type::I2C: {
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auto i2cmsg = std::dynamic_pointer_cast<I2CMessage>(message);
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if(!i2cmsg) {
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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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buffer = &result;
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if(!HardwareI2CPacket::EncodeFromMessage(*i2cmsg, result, report)) {
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return false;
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}
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break;
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} // End of Network::Type::I2C
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case Network::Type::LIN: {
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auto linmsg = std::dynamic_pointer_cast<LINMessage>(message);
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if(!linmsg) {
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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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buffer = &result;
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if(!HardwareLINPacket::EncodeFromMessage(*linmsg, result, report)) {
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return false;
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}
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break;
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} // End of Network::Type::LIN
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case Network::Type::MDIO: {
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auto mdiomsg = std::dynamic_pointer_cast<MDIOMessage>(message);
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if(!mdiomsg) {
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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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buffer = &result;
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if(!HardwareMDIOPacket::EncodeFromMessage(*mdiomsg, result, report)) {
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return false;
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}
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break;
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} // End of Network::Type::MDIO
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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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break;
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}
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case Message::Type::RawMessage: {
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auto raw = std::dynamic_pointer_cast<RawMessage>(message);
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// Raw message uses raw->data as the buffer unless directed otherwise
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buffer = &raw->data;
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netid = uint16_t(raw->network.getNetID());
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switch(raw->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::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(raw->data.size()) - 1;
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raw->data.insert(raw->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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break;
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}
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case Message::Type::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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buffer = &m51msg->data;
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netid = uint16_t(Network::NetID::Main51);
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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(m51msg->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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m51msg->data.insert(m51msg->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(m51msg->data, shortFormat);
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return true;
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} else {
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m51msg->data.insert(m51msg->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 Message::Type::EthernetPhyRegister: {
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if(!supportEthPhy) {
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report(APIEvent::Type::EthPhyRegisterControlNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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auto ethPhyMessage = std::dynamic_pointer_cast<EthPhyMessage>(message);
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if(!ethPhyMessage) {
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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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if(!HardwareEthernetPhyRegisterPacket::EncodeFromMessage(*ethPhyMessage, result, report))
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return false;
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break;
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}
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case Message::Type::LiveData: {
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auto liveDataMsg = std::dynamic_pointer_cast<LiveDataMessage>(message);
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if(!liveDataMsg) {
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report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
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return false; // The message was not a properly formed LiveDataMessage
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}
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if(!HardwareLiveDataPacket::EncodeFromMessage(*liveDataMsg, result, report))
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return false;
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result = packetizer.packetWrap(result, false);
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return true;
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}
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break;
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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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if(shortFormat) {
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buffer->insert(buffer->begin(), (uint8_t(buffer->size()) << 4) | uint8_t(netid));
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} else {
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// Size for the host-to-device long format is the size of the entire packet + 1
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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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// Then an extra +1, due to a firmware idiosyncrasy
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uint16_t size = static_cast<uint16_t>(buffer->size()) + 1 + 1 + 2 + 2 + 1;
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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)netid, // NetID, little endian 16-bit
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(uint8_t)(netid >> 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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auto canmsg = std::make_shared<RawMessage>(Network::NetID::Device);
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msg = canmsg;
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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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canmsg->data.reserve(3);
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canmsg->data.push_back(0x00);
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canmsg->data.push_back(0x06); // SetLEDState
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canmsg->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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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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case Command::NeoReadMemory:
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case Command::ClearCoreMini:
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case Command::LoadCoreMini:
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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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m51msg->data.insert(m51msg->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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} |