2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
5 * Licensed under the Apache License, Version 2.0 (the "License");
6 * you may not use this file except in compliance with the License.
7 * You may obtain a copy of the License at
9 * http://www.apache.org/licenses/LICENSE-2.0
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
19 * @class can_message_definition_t
21 * @brief The definition of a CAN message. This includes a lot of metadata, so
22 * to save memory this struct should not be used for storing incoming and
23 * outgoing CAN messages.
31 #include "can-signals.hpp"
32 #include "can-message.hpp"
33 #include "can-message-set.hpp"
34 #include "../utils/timer.hpp"
36 class can_message_set_t;
38 /// @brief The definition of a CAN message. This includes a lot of metadata, so
39 /// to save memory this class gets the can_signal_t object related to a CAN message.
40 class can_message_definition_t
43 can_message_set_t* parent_; ///< parent_ - Pointer to the CAN message set holding this CAN message definition */
44 std::string bus_; ///< bus_ - Address of CAN bus device. */
45 uint32_t id_; ///< id_ - The ID of the message.*/
46 bool is_fd_; /*!< uses_fd_ - Flags to enable an FD CAN message communication*/
47 can_message_format_t format_; ///< format_ - the format of the message's ID.*/
48 frequency_clock_t frequency_clock_; ///< clock_ - an optional frequency clock to control the output of this
49 /// message, if sent raw, or simply to mark the max frequency for custom
50 /// handlers to retrieve.*/
51 bool force_send_changed_; ///< force_send_changed_ - If true, regardless of the frequency, it will send CAN
52 /// message if it has changed when using raw passthrough.*/
53 std::vector<uint8_t> last_value_; ///< last_value_ - The last received value of the message. Defaults to undefined.
54 /// This is required for the forceSendChanged functionality, as the stack
55 /// needs to compare an incoming CAN message with the previous frame.*/
56 std::vector<std::shared_ptr<can_signal_t> > can_signals_; ///< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */
59 //can_message_definition_t(const can_message_definition_t& b);
60 can_message_definition_t(const std::string bus);
61 can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed);
62 can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
63 can_message_definition_t(const std::string bus,
66 can_message_format_t format,
67 frequency_clock_t frequency_clock,
68 bool force_send_changed,
69 const std::vector<std::shared_ptr<can_signal_t> >& can_signals);
71 const std::string get_bus_name() const;
72 const std::string get_bus_device_name() const;
73 uint32_t get_id() const;
75 std::vector<std::shared_ptr<can_signal_t> >& get_can_signals();
77 void set_parent(can_message_set_t* parent);
78 void set_last_value(const can_message_t& cm);