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#9 Added functions to mutate a frame, as applicable.
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@fpagliughi
fpagliughi committed Apr 5, 2023
1 parent 6d56fd5 commit 329e9f4
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Showing 2 changed files with 136 additions and 32 deletions.
163 changes: 136 additions & 27 deletions src/frame.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,7 @@ pub fn can_frame_default() -> can_frame {
}

/// Creates a default C `can_frame`.
/// This initializes the entire structure to zeros.
#[inline(always)]
pub fn canfd_frame_default() -> canfd_frame {
unsafe { mem::zeroed() }
Expand Down Expand Up @@ -120,7 +121,6 @@ pub trait Frame: EmbeddedFrame {

/// Return the actual raw CAN ID (without EFF/RTR/ERR flags)
fn raw_id(&self) -> canid_t {
// TODO: This probably isn't necessary. Just use EFF_MASK?
let mask = if self.is_extended() {
CAN_EFF_MASK
} else {
Expand All @@ -137,9 +137,9 @@ pub trait Frame: EmbeddedFrame {
/// Return the CAN ID as the embedded HAL Id type.
fn hal_id(&self) -> Id {
if self.is_extended() {
Id::Extended(ExtendedId::new(self.id_word() & CAN_EFF_MASK).unwrap())
ExtendedId::new(self.id_word() & CAN_EFF_MASK).unwrap().into()
} else {
Id::Standard(StandardId::new((self.id_word() & CAN_SFF_MASK) as u16).unwrap())
StandardId::new((self.id_word() & CAN_SFF_MASK) as u16).unwrap().into()
}
}

Expand All @@ -152,6 +152,12 @@ pub trait Frame: EmbeddedFrame {
fn is_error_frame(&self) -> bool {
self.id_flags().contains(IdFlags::ERR)
}

/// Sets the CAN ID for the frame
fn set_id(&mut self, id: impl Into<Id>);

/// Sets the data payload of the frame.
fn set_data(&mut self, data: &[u8]) -> Result<(), ConstructionError>;
}

// ===== CanAnyFrame =====
Expand Down Expand Up @@ -303,6 +309,26 @@ impl Frame for CanFrame {
Error(frame) => frame.id_word(),
}
}

/// Sets the CAN ID for the frame
fn set_id(&mut self, id: impl Into<Id>) {
use CanFrame::*;
match self {
Data(frame) => frame.set_id(id),
Remote(frame) => frame.set_id(id),
Error(frame) => frame.set_id(id),
}
}

/// Sets the data payload of the frame.
fn set_data(&mut self, data: &[u8]) -> Result<(), ConstructionError> {
use CanFrame::*;
match self {
Data(frame) => frame.set_data(data),
Remote(frame) => frame.set_data(data),
Error(frame) => frame.set_data(data),
}
}
}

impl Default for CanFrame {
Expand Down Expand Up @@ -391,18 +417,20 @@ pub struct CanDataFrame(can_frame);

impl CanDataFrame {
/// Initializes a CAN frame from raw parts.
pub fn init(id: u32, data: &[u8], flags: IdFlags) -> Result<Self, ConstructionError> {
let n = data.len();

if n > CAN_MAX_DLEN {
return Err(ConstructionError::TooMuchData);
pub fn init(id: u32, data: &[u8], mut flags: IdFlags) -> Result<Self, ConstructionError> {
match data.len() {
n if n <= CAN_MAX_DLEN => {
// TODO: Should this be a 'Wrong Frame Type' error?
flags.remove(IdFlags::RTR | IdFlags::ERR);

let mut frame = can_frame_default();
frame.can_id = init_id_word(id, flags)?;
frame.can_dlc = n as u8;
frame.data[..n].copy_from_slice(data);
Ok(Self(frame))
}
_ => Err(ConstructionError::TooMuchData)
}

let mut frame = can_frame_default();
frame.can_id = init_id_word(id, flags)?;
frame.can_dlc = n as u8;
frame.data[..n].copy_from_slice(data);
Ok(Self(frame))
}
}

Expand Down Expand Up @@ -469,6 +497,27 @@ impl Frame for CanDataFrame {
fn id_word(&self) -> u32 {
self.0.can_id
}

/// Sets the CAN ID for the frame
fn set_id(&mut self, id: impl Into<Id>) {
let id = id.into();
let mut flags = IdFlags::empty();
flags.set(IdFlags::EFF, id_is_extended(&id));

self.0.can_id = id_to_raw(id) | flags.bits();
}

/// Sets the data payload of the frame.
fn set_data(&mut self, data: &[u8]) -> Result<(), ConstructionError> {
match data.len() {
n if n <= CAN_MAX_DLEN => {
self.0.can_dlc = n as u8;
self.0.data[..n].copy_from_slice(data);
Ok(())
}
_ => Err(ConstructionError::TooMuchData)
}
}
}

impl Default for CanDataFrame {
Expand Down Expand Up @@ -541,6 +590,19 @@ impl AsRef<can_frame> for CanDataFrame {
#[derive(Clone, Copy)]
pub struct CanRemoteFrame(can_frame);

impl CanRemoteFrame {
/// Sets the data length code for the frame
pub fn set_dlc(&mut self, dlc: usize) -> Result<(), ConstructionError> {
if dlc <= CAN_MAX_DLEN {
self.0.can_dlc = dlc as u8;
Ok(())
}
else {
Err(ConstructionError::TooMuchData)
}
}
}

impl AsPtr for CanRemoteFrame {
type Inner = can_frame;

Expand Down Expand Up @@ -611,6 +673,22 @@ impl Frame for CanRemoteFrame {
fn id_word(&self) -> u32 {
self.0.can_id
}

/// Sets the CAN ID for the frame
fn set_id(&mut self, id: impl Into<Id>) {
let id = id.into();
let mut flags = IdFlags::RTR;
flags.set(IdFlags::EFF, id_is_extended(&id));

self.0.can_id = id_to_raw(id) | flags.bits();
}

/// Sets the data payload of the frame.
/// For the Remote frame, this just updates the DLC to the length of the
/// data slice.
fn set_data(&mut self, data: &[u8]) -> Result<(), ConstructionError> {
self.set_dlc(data.len())
}
}

impl Default for CanRemoteFrame {
Expand Down Expand Up @@ -746,6 +824,16 @@ impl Frame for CanErrorFrame {
fn id_word(&self) -> u32 {
self.0.can_id
}

/// Sets the CAN ID for the frame
/// This does nothing on an error frame.
fn set_id(&mut self, _id: impl Into<Id>) {}

/// Sets the data payload of the frame.
/// This is an error on an error frame.
fn set_data(&mut self, _data: &[u8]) -> Result<(), ConstructionError> {
Err(ConstructionError::WrongFrameType)
}
}

impl fmt::Debug for CanErrorFrame {
Expand Down Expand Up @@ -802,21 +890,21 @@ impl CanFdFrame {
mut flags: IdFlags,
fd_flags: FdFlags,
) -> Result<Self, ConstructionError> {
let n = data.len();

if n > CANFD_MAX_DLEN {
return Err(ConstructionError::TooMuchData);
match data.len() {
n if n > CANFD_MAX_DLEN => {
// TODO: Should this be a 'Wrong Frame Type' error?
flags.remove(IdFlags::RTR | IdFlags::ERR);

let mut frame = canfd_frame_default();
frame.can_id = init_id_word(id, flags)?;
frame.len = n as u8;
frame.flags = fd_flags.bits();
frame.data[..n].copy_from_slice(data);
Ok(Self(frame))
}
_ => Err(ConstructionError::TooMuchData)
}

flags.remove(IdFlags::RTR);

let mut frame = canfd_frame_default();
frame.can_id = init_id_word(id, flags)?;
frame.len = n as u8;
frame.flags = fd_flags.bits();
frame.data[..n].copy_from_slice(data);

Ok(Self(frame))
}

/// Gets the flags for the FD frame.
Expand Down Expand Up @@ -922,6 +1010,27 @@ impl Frame for CanFdFrame {
fn id_word(&self) -> u32 {
self.0.can_id
}

/// Sets the CAN ID for the frame
fn set_id(&mut self, id: impl Into<Id>) {
let id = id.into();
let mut flags = IdFlags::empty();
flags.set(IdFlags::EFF, id_is_extended(&id));

self.0.can_id = id_to_raw(id) | flags.bits();
}

/// Sets the data payload of the frame.
fn set_data(&mut self, data: &[u8]) -> Result<(), ConstructionError> {
match data.len() {
n if n <= CANFD_MAX_DLEN => {
self.0.len = n as u8;
self.0.data[..n].copy_from_slice(data);
Ok(())
}
_ => Err(ConstructionError::TooMuchData)
}
}
}

impl Default for CanFdFrame {
Expand Down
5 changes: 0 additions & 5 deletions src/lib.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -113,11 +113,6 @@ impl embedded_can::blocking::Can for CanSocket {
fn receive(&mut self) -> Result<Self::Frame> {
use CanFrame::*;
match self.read_frame() {
/*
Ok(Data(frame)) => Ok(Data(frame)),
Ok(Remote(frame)) => Ok(Remote(frame)),
Ok(Error(frame)) => Err(frame.into_error().into()),
*/
Ok(Error(frame)) => Err(frame.into_error().into()),
Ok(frame) => Ok(frame),
Err(e) => Err(e.into()),
Expand Down

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