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
35 struct bcm_msg_head msg_head;
37 struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
38 struct can_frame frames[MAX_BCM_CAN_FRAMES];
43 * @enum can_message_format_t
44 * @brief The ID format for a CAN message.
46 enum class can_message_format_t {
47 STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */
48 EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
49 J1939, ///< J1939 - Format for j1939 messages
50 INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
56 /// @brief A compact representation of a single CAN message, meant to be used in in/out
57 /// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
60 uint8_t length_; ///< length_ - the length of the data array (max 8). */
61 can_message_format_t format_; ///< format_ - the format of the message's ID.*/
62 std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
63 uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/
64 int sub_id_; ///< sub_id_ - Subscription index. */
69 message_t(uint8_t length, can_message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
71 int get_sub_id() const;
72 const uint8_t* get_data() const;
73 const std::vector<uint8_t> get_data_vector() const;
74 uint8_t get_length() const;
75 uint64_t get_timestamp() const;
77 void set_sub_id(int sub_id);
78 void set_timestamp(uint64_t timestamp);
79 can_message_format_t get_msg_format();
80 virtual bool is_set() = 0;
81 virtual std::string get_debug_message() = 0;
82 virtual uint32_t get_id() const = 0;
83 virtual struct bcm_msg get_bcm_msg() = 0;
84 virtual void set_bcm_msg(struct bcm_msg bcm_msg) = 0;