Driver API moved to <uavcan/driver/*>

2026-10-22 00:23:33 +08:00 · 2014-03-20 23:37:27 +04:00
parent 6eb660f11a
commit cfbbe41777
7 changed files with 8 additions and 8 deletions
@@ -0,0 +1,66 @@
+/*
+ * CAN bus driver interface.
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <cstdio>
+#include <cassert>
+#include <uavcan/driver/can.hpp>
+
+namespace uavcan
+{
+
+const uint32_t CanFrame::MaskStdID;
+const uint32_t CanFrame::MaskExtID;
+const uint32_t CanFrame::FlagEFF;
+const uint32_t CanFrame::FlagRTR;
+
+
+std::string CanFrame::toString(StringRepresentation mode) const
+{
+    using std::snprintf;
+
+    assert(mode == StrTight || mode == StrAligned);
+
+    static const int ASCII_COLUMN_OFFSET = 36;
+
+    char buf[50];
+    char* wpos = buf, *epos = buf + sizeof(buf);
+    std::fill(buf, buf + sizeof(buf), 0);
+
+    if (id & FlagEFF)
+    {
+        wpos += snprintf(wpos, epos - wpos, "0x%08x  ", (unsigned int)(id & MaskExtID));
+    }
+    else
+    {
+        const char* const fmt = (mode == StrAligned) ? "     0x%03x  " : "0x%03x  ";
+        wpos += snprintf(wpos, epos - wpos, fmt, (unsigned int)(id & MaskStdID));
+    }
+
+    if (id & FlagRTR)
+    {
+        wpos += snprintf(wpos, epos - wpos, " RTR");
+    }
+    else
+    {
+        for (int dlen = 0; dlen < dlc; dlen++)                                 // hex bytes
+            wpos += snprintf(wpos, epos - wpos, " %02x", (unsigned int)data[dlen]);
+
+        while (mode == StrAligned && wpos < buf + ASCII_COLUMN_OFFSET)        // alignment
+            *wpos++ = ' ';
+
+        wpos += snprintf(wpos, epos - wpos, "  \'");                           // ascii
+        for (int dlen = 0; dlen < dlc; dlen++)
+        {
+            uint8_t ch = data[dlen];
+            if (ch < 0x20 || ch > 0x7E)
+                ch = '.';
+            wpos += snprintf(wpos, epos - wpos, "%c", ch);
+        }
+        wpos += snprintf(wpos, epos - wpos, "\'");
+    }
+    return std::string(buf);
+}
+
+}