CanMsg.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#ifndef CANMSG_INCLUDEDEF_H
#define CANMSG_INCLUDEDEF_H
//-----------------------------------------------
#include <iostream>
//-----------------------------------------------
 
class CanMsg
{
public:
        typedef unsigned char BYTE;
        int m_iID;
        int m_iLen;
        int m_iType;
 
protected:
        BYTE m_bDat[8];
 
public:
        CanMsg()
        {
                m_iID = 0;
                m_iLen = 8;
                m_iType = 0x00;
        }
 
        void set(BYTE Data0=0, BYTE Data1=0, BYTE Data2=0, BYTE Data3=0, BYTE Data4=0, BYTE Data5=0, BYTE Data6=0, BYTE Data7=0)
        {
                m_bDat[0] = Data0;
                m_bDat[1] = Data1;
                m_bDat[2] = Data2;
                m_bDat[3] = Data3;
                m_bDat[4] = Data4;
                m_bDat[5] = Data5;
                m_bDat[6] = Data6;
                m_bDat[7] = Data7;
        }
 
        void setAt(BYTE data, int iNr)
        {
                m_bDat[iNr] = data;
        }
 
        void get(BYTE* pData0, BYTE* pData1, BYTE* pData2, BYTE* pData3, BYTE* pData4, BYTE* pData5, BYTE* pData6, BYTE* pData7)
        {
                *pData0 = m_bDat[0];
                *pData1 = m_bDat[1];
                *pData2 = m_bDat[2];
                *pData3 = m_bDat[3];
                *pData4 = m_bDat[4];
                *pData5 = m_bDat[5];
                *pData6 = m_bDat[6];
                *pData7 = m_bDat[7];
        }
 
        int getAt(int iNr)
        {
                return m_bDat[iNr];
        }
 
        int printCanIdentMsgStatus()
        {
                if(getStatus() == 0)
                {
                        std::cout << "ID= " << m_iID << "  " << "Cmd= " << getCmd() << "   " << "Msg_OK" << std::endl;
                        return 0;
                }
                else
                {
                        std::cout << "ID= " << m_iID << "  " << "Cmd= " << getCmd() << "   " << "Msg_Error" << std::endl;
                        return -1;
                }
        }
 
        void print()
        {
                std::cout << "id= " << m_iID << " type= " << m_iType << " len= " << m_iLen << " data= " <<
                        (int)m_bDat[0] << " " << (int)m_bDat[1] << " " << (int)m_bDat[2] << " " << (int)m_bDat[3] << " " <<
                        (int)m_bDat[4] << " " << (int)m_bDat[5] << " " << (int)m_bDat[6] << " " << (int)m_bDat[7] << std::endl;
        }
 
        int getStatus()
        {
                //bit 0 and bit 1 contain MsgStatus
                return (int)(m_bDat[7] & 0x0003);
        }
 
        int getCmd()
        {
                return (m_bDat[7] >> 2);
        }
 
        int getID()
        {
                return m_iID;
        }
 
        void setID(int id)
        {
                if( (0 <= id) && (id <= 2047) )
                        m_iID = id;
        }
 
        int getLength()
        {
                return m_iLen;
        }
 
        void setLength(int len)
        {
                if( (0 <= len) && (len <= 8) )
                        m_iLen = len;
        }
 
        int getType()
        {
                return m_iType;
        }
 
        void setType(int type)
        {
                m_iType = type;
        }
 
 
};
//-----------------------------------------------
#endif