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Process can packets refactoring #58

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merged 1 commit into from
Dec 3, 2024
Merged

Process can packets refactoring #58

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4 changes: 2 additions & 2 deletions asam_cmp_capture_module/include/asam_cmp_capture_module/stream_fb.h
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Original file line number Diff line number Diff line change
Expand Up @@ -16,13 +16,13 @@

#pragma once
#include <asam_cmp/encoder.h>
#include <asam_cmp/payload_type.h>
#include <asam_cmp_capture_module/common.h>
#include <asam_cmp_common_lib/id_manager.h>
#include <asam_cmp_common_lib/stream_common_fb_impl.h>
#include <asam_cmp_capture_module/encoder_bank.h>
#include <opendaq/context_factory.h>
#include <opendaq/function_block_impl.h>
#include <asam_cmp/payload_type.h>
#include <opendaq/data_packet_ptr.h>
#include <opendaq/event_packet_ptr.h>

Expand Down Expand Up @@ -75,8 +75,8 @@ class StreamFb final : public asam_cmp_common_lib::StreamCommonFb
void configure();

void processDataPacket(const DataPacketPtr& packet);
template <typename CanPayloadType>
void processCanPacket(const DataPacketPtr& packet);
void processCanFdPacket(const DataPacketPtr& packet);
void processAnalogPacket(const DataPacketPtr& packet);

void processEventPacket(const EventPacketPtr& packet);
Expand Down
56 changes: 12 additions & 44 deletions asam_cmp_capture_module/src/stream_fb.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -319,8 +319,16 @@ ASAM::CMP::DataContext StreamFb::createEncoderDataContext() const
return {minFrameSize, maxFrameSize};
}

template <typename T>
constexpr size_t maxCanDataSize = 64;
template <>
constexpr size_t maxCanDataSize<ASAM::CMP::CanPayload> = 8;

template <typename CanPayloadType>
void StreamFb::processCanPacket(const DataPacketPtr& packet)
{
static_assert(std::is_base_of_v<ASAM::CMP::CanPayloadBase, CanPayloadType>);

#pragma pack(push, 1)
struct CANData
{
Expand All @@ -345,9 +353,9 @@ void StreamFb::processCanPacket(const DataPacketPtr& packet)

for (size_t i = 0; i < sampleCount; i++)
{
if (canData->length <= 8)
if (canData->length <= maxCanDataSize<CanPayloadType>)
{
ASAM::CMP::CanPayload payload;
CanPayloadType payload{};
payload.setData(canData->data, canData->length);
payload.setId(canData->arbId);

Expand All @@ -364,46 +372,6 @@ void StreamFb::processCanPacket(const DataPacketPtr& packet)
ethernetWrapper->sendPacket(rawFrame);
}

void StreamFb::processCanFdPacket(const DataPacketPtr& packet)
{
#pragma pack(push, 1)
struct CANData
{
uint32_t arbId;
uint8_t length;
uint8_t data[64];
};
#pragma pack(pop)

auto* canData = reinterpret_cast<CANData*>(packet.getData());
const size_t sampleCount = packet.getSampleCount();

uint64_t* rawTimeBuffer = reinterpret_cast<uint64_t*>(packet.getDomainPacket().getRawData());
RatioPtr timeResolution = packet.getDomainPacket().getDataDescriptor().getTickResolution();
size_t timeScale = 1'000'000'000 / timeResolution.getDenominator();

std::vector<ASAM::CMP::Packet> packets;
packets.reserve(sampleCount);

for (size_t i = 0; i < sampleCount; i++)
{
ASAM::CMP::CanFdPayload payload;
payload.setData(canData->data, canData->length);
payload.setId(canData->arbId);

packets.emplace_back();
packets.back().setInterfaceId(interfaceId);
packets.back().setPayload(payload);
packets.back().setTimestamp((*rawTimeBuffer) * timeScale);

canData++;
rawTimeBuffer++;
}

for (auto& rawFrame : encoders->encode(streamId, packets.begin(), packets.end(), dataContext))
ethernetWrapper->sendPacket(rawFrame);
}

template <SampleType SrcType>
void createAnalogPayloadWithInternalScaling(ASAM::CMP::AnalogPayload& payload,
const daq::DataPacketPtr& packet,
Expand Down Expand Up @@ -505,10 +473,10 @@ void StreamFb::processDataPacket(const DataPacketPtr& packet)
switch (payloadType.getType())
{
case ASAM::CMP::PayloadType::can:
processCanPacket(packet);
processCanPacket<ASAM::CMP::CanPayload>(packet);
break;
case ASAM::CMP::PayloadType::canFd:
processCanFdPacket(packet);
processCanPacket<ASAM::CMP::CanFdPayload>(packet);
break;
case ASAM::CMP::PayloadType::analog:
processAnalogPacket(packet);
Expand Down