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.
25 #include <linux/can.h>
26 #include <linux/can/bcm.h>
27 #include "../../utils/timer.hpp"
29 #define CAN_MESSAGE_SIZE 8
31 #define MAX_BCM_CAN_FRAMES 257
32 #define MAX_ISOTP_FRAMES 4096
38 #define CAN_PROTOCOL 0x0001
39 #define CAN_PROTOCOL_WITH_FD_FRAME 0x0002
40 #define J1939_ADDR_CLAIM_PROTOCOL 0x0004
41 #define J1939_PROTOCOL 0x0008
42 #define ISOTP_PROTOCOL 0x0010
43 #define ISOTP_SEND 0x0020
44 #define ISOTP_RECEIVE 0x0040
45 #define FRAME_LAYOUT_IS_BIGENDIAN 0x0080
46 #define BIT_POSITION_REVERSED 0x0100
47 #define CONTINENTAL_BIT_POSITION 0x0200
48 #define INVALID_FLAG 0x8000
52 /// @brief A compact representation of a single CAN message, meant to be used in in/out
53 /// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
56 uint32_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
57 uint32_t length_; ///< length_ - the length of the data array. */
58 uint32_t flags_; ///< format_ - the format mask of the message that control which socketcan will used*/
59 std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
60 uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/
61 int sub_id_; ///< sub_id_ - Subscription index. */
65 message_t(uint32_t maxdlen, uint32_t length, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
66 virtual ~message_t() = default;
68 int get_sub_id() const;
69 const uint8_t* get_data() const;
70 const std::vector<uint8_t> get_data_vector() const;
71 const std::vector<uint8_t> get_data_vector(int start, int end) const;
72 uint32_t get_length() const;
73 uint64_t get_timestamp() const;
75 void set_data(std::vector<uint8_t> data);
76 void set_sub_id(int sub_id);
77 void set_timestamp(uint64_t timestamp);
78 virtual bool is_set() = 0;
79 virtual std::string get_debug_message() = 0;
80 virtual uint32_t get_id() const = 0;
81 virtual void set_id(canid_t id) = 0;
83 void set_flags(uint32_t flags);
85 uint32_t get_maxdlen();
86 void set_maxdlen(uint32_t maxdlen);
87 void set_length(uint32_t length);