socketcan_alt/frame/
fd_data.rs

1use super::Id;
2use crate::sys;
3use std::fmt;
4use std::mem::MaybeUninit;
5
6const DLC: [u8; sys::CANFD_MAX_DLC as _] = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48];
7
8#[derive(Clone, Copy)]
9pub struct FdDataFrame(pub(super) sys::canfd_frame);
10
11impl FdDataFrame {
12    /// # Panics
13    ///
14    /// Panics if `id` exceeds its limit or `data` is longer than 64 bytes.
15    pub fn new(id: Id, brs: bool, esi: bool, data: &[u8]) -> Self {
16        assert!(data.len() <= sys::CANFD_MAX_DLEN as _);
17        let mut inner = MaybeUninit::<sys::canfd_frame>::zeroed();
18        unsafe {
19            (*inner.as_mut_ptr()).can_id = id.into_can_id();
20            (*inner.as_mut_ptr()).len = DLC
21                .iter()
22                .copied()
23                .find(|&dlc| dlc as usize >= data.len())
24                .unwrap_or(sys::CANFD_MAX_DLEN as _);
25            (*inner.as_mut_ptr()).flags = if brs { sys::CANFD_BRS as _ } else { 0 }
26                | if esi { sys::CANFD_ESI as _ } else { 0 };
27            (*inner.as_mut_ptr()).data[..data.len()].copy_from_slice(data);
28            Self(inner.assume_init())
29        }
30    }
31
32    pub fn id(&self) -> Id {
33        Id::from_can_id(self.0.can_id)
34    }
35
36    pub fn brs(&self) -> bool {
37        self.0.flags & (sys::CANFD_BRS as u8) != 0
38    }
39
40    pub fn esi(&self) -> bool {
41        self.0.flags & (sys::CANFD_ESI as u8) != 0
42    }
43
44    pub fn data(&self) -> &[u8] {
45        &self.0.data[..self.0.len as _]
46    }
47}
48
49impl fmt::Debug for FdDataFrame {
50    fn fmt(&self, fmt: &mut fmt::Formatter<'_>) -> fmt::Result {
51        fmt.debug_struct("FdDataFrame")
52            .field("id", &self.id())
53            .field("brs", &self.brs())
54            .field("esi", &self.esi())
55            .field("data", &self.data())
56            .finish()
57    }
58}
59
60#[cfg(test)]
61mod tests;
socketcan_alt/frame/fd_data.rs

socketcan_alt/frame/
fd_data.rs
