Initial commit: Complete USB2CAN cross-platform framework

Features:
- Cross-platform support (Windows/Linux/macOS)
- CAN and CANFD protocol support
- USB communication (WinUSB/libusb)
- Device management and configuration
- Message transmission and reception
- Filter configuration
- CMake build system
- Comprehensive examples and tests

src/can/CanMessage.cpp

@@ -0,0 +1,189 @@
+/**
+ * @file CanMessage.cpp
+ * @brief CAN协议层实现
+ */
+
+#include "../../include/can/CanMessage.h"
+#include <cstring>
+#include <iomanip>
+#include <sstream>
+
+namespace usb2can {
+namespace can {
+
+CanConfig::CanConfig() 
+    : bitrate(500000), mode(CanMode::Normal), filterId(0), filterMask(0xFFFFFFFF) {
+}
+
+CanMessage::CanMessage() 
+    : id(0), dlc(0), extended(false), rtr(false), timestamp(0) {
+    std::memset(data, 0, sizeof(data));
+}
+
+CanMessage::CanMessage(uint32_t id, const uint8_t* data, uint8_t dlc, bool extended, bool rtr)
+    : id(id), dlc(dlc), extended(extended), rtr(rtr), timestamp(0) {
+    if (data && dlc > 0) {
+        std::memcpy(this->data, data, std::min(static_cast<size_t>(dlc), sizeof(this->data)));
+    } else {
+        std::memset(this->data, 0, sizeof(this->data));
+    }
+}
+
+CanMessage::CanMessage(const CanMessage& other) {
+    id = other.id;
+    dlc = other.dlc;
+    extended = other.extended;
+    rtr = other.rtr;
+    timestamp = other.timestamp;
+    std::memcpy(data, other.data, sizeof(data));
+}
+
+CanMessage& CanMessage::operator=(const CanMessage& other) {
+    if (this != &other) {
+        id = other.id;
+        dlc = other.dlc;
+        extended = other.extended;
+        rtr = other.rtr;
+        timestamp = other.timestamp;
+        std::memcpy(data, other.data, sizeof(data));
+    }
+    return *this;
+}
+
+bool CanMessage::operator==(const CanMessage& other) const {
+    if (id != other.id || dlc != other.dlc || extended != other.extended || rtr != other.rtr) {
+        return false;
+    }
+    
+    return std::memcmp(data, other.data, sizeof(data)) == 0;
+}
+
+std::string CanMessage::toString() const {
+    std::stringstream ss;
+    
+    ss << "ID: 0x" << std::hex << std::setw(8) << std::setfill('0') << id
+       << " DLC: " << std::dec << static_cast<int>(dlc)
+       << " [";
+    
+    for (int i = 0; i < dlc; i++) {
+        ss << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(data[i]);
+        if (i < dlc - 1) {
+            ss << " ";
+        }
+    }
+    
+    ss << "]";
+    
+    if (extended) {
+        ss << " Extended";
+    }
+    
+    if (rtr) {
+        ss << " RTR";
+    }
+    
+    return ss.str();
+}
+
+CanFdConfig::CanFdConfig() 
+    : bitrate(500000), dataBitrate(2000000), mode(CanMode::Normal), 
+      filterId(0), filterMask(0xFFFFFFFF), enableFd(true), enableBrs(true) {
+}
+
+CanFdMessage::CanFdMessage() 
+    : id(0), dlc(0), extended(false), rtr(false), fd(false), brs(false), esi(false), timestamp(0) {
+    std::memset(data, 0, sizeof(data));
+}
+
+CanFdMessage::CanFdMessage(uint32_t id, const uint8_t* data, uint8_t dlc, 
+                           bool extended, bool rtr, bool fd, bool brs, bool esi)
+    : id(id), dlc(dlc), extended(extended), rtr(rtr), fd(fd), brs(brs), esi(esi), timestamp(0) {
+    if (data && dlc > 0) {
+        std::memcpy(this->data, data, std::min(static_cast<size_t>(dlc), sizeof(this->data)));
+    } else {
+        std::memset(this->data, 0, sizeof(this->data));
+    }
+}
+
+CanFdMessage::CanFdMessage(const CanFdMessage& other) {
+    id = other.id;
+    dlc = other.dlc;
+    extended = other.extended;
+    rtr = other.rtr;
+    fd = other.fd;
+    brs = other.brs;
+    esi = other.esi;
+    timestamp = other.timestamp;
+    std::memcpy(data, other.data, sizeof(data));
+}
+
+CanFdMessage& CanFdMessage::operator=(const CanFdMessage& other) {
+    if (this != &other) {
+        id = other.id;
+        dlc = other.dlc;
+        extended = other.extended;
+        rtr = other.rtr;
+        fd = other.fd;
+        brs = other.brs;
+        esi = other.esi;
+        timestamp = other.timestamp;
+        std::memcpy(data, other.data, sizeof(data));
+    }
+    return *this;
+}
+
+bool CanFdMessage::operator==(const CanFdMessage& other) const {
+    if (id != other.id || dlc != other.dlc || extended != other.extended || 
+        rtr != other.rtr || fd != other.fd || brs != other.brs || esi != other.esi) {
+        return false;
+    }
+    
+    return std::memcmp(data, other.data, sizeof(data)) == 0;
+}
+
+std::string CanFdMessage::toString() const {
+    std::stringstream ss;
+    
+    ss << "ID: 0x" << std::hex << std::setw(8) << std::setfill('0') << id
+       << " DLC: " << std::dec << static_cast<int>(dlc)
+       << " [";
+    
+    for (int i = 0; i < dlc; i++) {
+        ss << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(data[i]);
+        if (i < dlc - 1) {
+            ss << " ";
+        }
+    }
+    
+    ss << "]";
+    
+    if (extended) {
+        ss << " Extended";
+    }
+    
+    if (rtr) {
+        ss << " RTR";
+    }
+    
+    if (fd) {
+        ss << " FD";
+    }
+    
+    if (brs) {
+        ss << " BRS";
+    }
+    
+    if (esi) {
+        ss << " ESI";
+    }
+    
+    return ss.str();
+}
+
+CanStatus::CanStatus() 
+    : busOff(false), errorPassive(false), errorWarning(false), 
+      rxErrorCounter(0), txErrorCounter(0) {
+}
+
+} // namespace can
+} // namespace usb2can