-
Notifications
You must be signed in to change notification settings - Fork 20
Expand file tree
/
Copy pathCanFdFrame.cs
More file actions
133 lines (118 loc) · 5.15 KB
/
Copy pathCanFdFrame.cs
File metadata and controls
133 lines (118 loc) · 5.15 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
#region License
/*
BSD 3-Clause License
Copyright (c) 2021, Derek Will
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#endregion
using System;
using System.Linq;
using System.Text;
using System.Runtime.InteropServices;
namespace SocketCANSharp
{
/// <summary>
/// Represents a CAN FD (Controller Area Network Flexible Data-Rate) Frame
/// </summary>
[StructLayout(LayoutKind.Sequential)]
public struct CanFdFrame
{
private uint _canId;
/// <summary>
/// Controller Area Network Identifier structure:
/// bit 0-28: CAN identifier (11 or 29 bit)
/// bit 29: Error frame flag (0 = Data frame, 1 = Error frame)
/// bit 30: Remote frame flag (1 = Remote Transmission Request (RTR) bit is set)
/// bit 31: Frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
/// </summary>
public uint CanId
{
get
{
return _canId;
}
set
{
SocketCanUtils.ThrowIfCanIdStructureInvalid(value);
_canId = value;
}
}
/// <summary>
/// Frame length in bytes.
/// </summary>
public byte Length { get; set; }
/// <summary>
/// CAN FD specific flags for ESI, BRS, etc.
/// </summary>
public CanFdFlags Flags { get; set; }
/// <summary>
/// Reserved for future expansion.
/// </summary>
public byte Res0 { get; set; }
/// <summary>
/// Reserved for future expansion.
/// </summary>
public byte Res1 { get; set; }
/// <summary>
/// CAN FD Frame payload.
/// </summary>
[MarshalAs(UnmanagedType.ByValArray, SizeConst=SocketCanConstants.CANFD_MAX_DLEN)]
public byte[] Data;
/// <summary>
/// Initializes a new instance of the CanFdFrame structure using the supplied CAN ID, data payload, and flags (ESI, BRS, etc.).
/// </summary>
/// <param name="canId">CAN ID including remote, error, and SFF/EFF flags.</param>
/// <param name="data">Payload data.</param>
/// <param name="flags">CAN FD flags.</param>
public CanFdFrame(uint canId, byte[] data, CanFdFlags flags)
{
if (data == null)
throw new ArgumentNullException(nameof(data));
if (data.Length > SocketCanConstants.CANFD_MAX_DLEN)
throw new ArgumentOutOfRangeException(nameof(data), $"Data must be {SocketCanConstants.CANFD_MAX_DLEN} bytes or less");
SocketCanUtils.ThrowIfCanIdStructureInvalid(canId);
_canId = canId;
Length = (byte) data?.Length;
Flags = flags;
Res0 = 0x00;
Res1 = 0x00;
Data = new byte[SocketCanConstants.CANFD_MAX_DLEN];
for (int i = 0; i < data.Length; i++)
{
Data[i] = data[i];
}
}
/// <summary>
/// Returns a string that represents the current CanFdFrame object.
/// </summary>
/// <returns>A string that represents the current CanFdFrame object.</returns>
public override string ToString()
{
var stringBuilder = new StringBuilder();
stringBuilder.AppendLine($"CAN FD Flags: {Flags.ToString()}");
stringBuilder.AppendLine($"CAN ID Flags: EFF: {((uint)CanIdFlags.CAN_EFF_FLAG & CanId) != 0}, RTR: {((uint)CanIdFlags.CAN_RTR_FLAG & CanId) != 0}, ERR: {((uint)CanIdFlags.CAN_ERR_FLAG & CanId) != 0}");
stringBuilder.Append($"CAN Data: 0x{SocketCanConstants.CAN_EFF_MASK & CanId:X} [{Length:D2}] {BitConverter.ToString(Data.Take(Length).ToArray()).Replace("-", " ")}");
return stringBuilder.ToString();
}
}
}