HfUtilsCanOpenBridge.hpp

Go to the documentation of this file.

 
#pragma once
 
#include "CanFrame.h"
#include "base/BaseCan.h"
 
#include <algorithm>
#include <cstring>
 
inline void HfUtilsCanFrameToMessage(const CanOpen::CanFrame& c, hf_can_message_t& m) noexcept {
  // CanOpen::CanFrame is classic (8 data bytes); hf_can_message_t is FD-sized
  // (64), so bound the copy by the source buffer and keep `dlc` a valid
  // classic length.
  const std::size_t n = (std::min)(static_cast<std::size_t>(c.dlc), sizeof(c.data));
  m.id = static_cast<hf_u32_t>(c.id);
  m.dlc = static_cast<hf_u8_t>(n);
  m.is_extended = c.extended;
  m.is_rtr = c.rtr;
  m.is_canfd = false;
  (void)std::memcpy(m.data, c.data, n);
  if (n < sizeof(m.data)) {
    (void)std::memset(m.data + n, 0, sizeof(m.data) - n);
  }
}
 
inline void HfUtilsMessageToCanFrame(const hf_can_message_t& m, CanOpen::CanFrame& c) noexcept {
  c.id = m.id;
  c.dlc = m.dlc;
  c.extended = m.is_extended;
  c.rtr = m.is_rtr;
  const std::size_t n = (std::min)(static_cast<std::size_t>(m.dlc), sizeof(c.data));
  (void)std::memcpy(c.data, m.data, n);
  if (n < sizeof(c.data)) {
    (void)std::memset(c.data + n, 0, sizeof(c.data) - n);
  }
}