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.
23 #include <linux/can.h>
25 #include "../utils/socket.hpp"
30 /// @brief Object representing a can device. Handle opening, closing and reading on the
31 /// socket. This is the low level object to be use by can_bus_t.
35 std::string device_name_;
36 utils::socket_t can_socket_;
38 int32_t id_; /// < an identifier used through binding that refer to that device
40 bool is_fdmode_on_; /// < boolean telling if whether or not the can socket use fdmode.
41 struct sockaddr_can txAddress_; /// < internal member using to bind to the socket
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_; /// < 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);
53 void start_reading(can_bus_t& can_bus);
57 std::pair<struct canfd_frame&, size_t> read();
59 int send_can_message(can_message_t& can_msg);