canmessage.h

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/*
* Copyright 2023 Ingemar Hedvall
* SPDX-License-Identifier: MIT
*/
 
#pragma once
 
 
#include "mdf/samplerecord.h"
 
namespace mdf {
enum class CanErrorType : uint8_t {
  UNKNOWN_ERROR = 0, 
  BIT_ERROR = 1,     
  FORM_ERROR = 2,    
  BIT_STUFFING_ERROR = 3, 
  CRC_ERROR = 4, 
  ACK_ERROR = 5 
};
 
enum class MessageType : int {
  CAN_DataFrame, 
  CAN_RemoteFrame, 
  CAN_ErrorFrame, 
  CAN_OverloadFrame, 
};
 
class IChannel;
 
class CanMessage {
 public:
  void MessageId(uint32_t msg_id);
 
  [[nodiscard]] uint32_t MessageId() const;
 
  [[nodiscard]] uint32_t CanId() const;
 
  void ExtendedId(bool extended ); 
  [[nodiscard]] bool ExtendedId() const; 
 
  void Dlc(uint8_t dlc); 
  [[nodiscard]] uint8_t Dlc() const; 
 
  void DataLength(size_t data_length);
  [[nodiscard]] size_t DataLength() const; 
 
  void DataBytes(const std::vector<uint8_t>& data);
 
  [[nodiscard]] const std::vector<uint8_t>& DataBytes() const;
 
  void DataIndex(uint64_t index);
  [[nodiscard]] uint64_t DataIndex() const;
 
  void Dir(bool transmit );
  [[nodiscard]] bool Dir() const;
 
  void Srr(bool srr ); 
  [[nodiscard]] bool Srr() const; 
 
  void Edl(bool edl ); 
  [[nodiscard]] bool Edl() const; 
 
  void Brs(bool brs ); 
  [[nodiscard]] bool Brs() const; 
 
  void Esi(bool esi ); 
  [[nodiscard]] bool Esi() const; 
 
  void Rtr(bool rtr ); 
  [[nodiscard]] bool Rtr() const; 
 
  void WakeUp(bool wake_up ); 
  [[nodiscard]] bool WakeUp() const; 
 
  void SingleWire(bool single_wire ); 
  [[nodiscard]] bool SingleWire() const; 
 
  void BusChannel(uint8_t channel); 
  [[nodiscard]] uint8_t BusChannel() const; 
 
  void BitPosition(uint8_t position); 
  [[nodiscard]] uint8_t BitPosition() const; 
 
  void ErrorType(CanErrorType error_type); 
  [[nodiscard]] CanErrorType ErrorType() const; 
 
  static size_t DlcToLength(uint8_t dlc); 
 
  void Reset(); 
 
  void ToRaw(MessageType msg_type, SampleRecord& sample,
             size_t max_data_length, bool save_index ) const;
 private:
  uint32_t message_id_ = 0; 
  uint8_t  dlc_ = 0; 
  uint8_t flags_ = 0; 
  uint64_t data_index_ = 0; 
  std::vector<uint8_t> data_bytes_; 
  uint8_t bit_position_ = 0; 
  uint8_t error_type_ = 0; 
 
};
 
}  // namespace mdf