2 * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loïc Collignon" <loic.collignon@iot.bzh>
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
22 #include <linux/can.h>
26 #include "../utils/socket.hpp"
31 /// @brief Object representing a can device. Handle opening, closing and reading on the
32 /// socket. This is the low level object to be initialized and use by can_bus_t.
36 std::string device_name_; ///< a string identifier identitfying the linux CAN device.
37 utils::socketcan_t can_socket_;
39 int32_t address_; ///< an identifier used through binding that refer to that device
41 bool is_fdmode_on_; ///< boolean telling if whether or not the can socket use fdmode.
43 std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
44 bool is_running_ = false; ///< boolean telling whether or not reading is running or not
45 void can_reader(can_bus_t& can_bus);
48 can_bus_dev_t(const std::string& dev_name, int32_t address);
50 std::string get_device_name() const;
51 uint32_t get_address() const;
53 int open(bool bcm=false);
57 void start_reading(can_bus_t& can_bus);
63 int send(can_message_t& can_msg);
64 bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);