#pragma once
#include "./message.hpp"
-
+struct bcm_msg
+{
+ struct bcm_msg_head msg_head;
+ union {
+ struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
+ struct can_frame frames[MAX_BCM_CAN_FRAMES];
+ };
+};
/// @class can_message_t
///
/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
class can_message_t : public message_t {
private:
- uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
uint32_t id_; ///< id_ - The ID of the message. */
bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
- uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
struct bcm_msg bcm_msg_;
public:
can_message_t();
- can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+ can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, message_format_t format, bool rtr_flag_, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
uint32_t get_id() const;
static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
+ struct canfd_frame convert_to_canfd_frame();
+ struct std::vector<canfd_frame> convert_to_canfd_frame_vector();
+ struct can_frame convert_to_can_frame();
+
bool is_correct_to_send();
bool is_set();
- struct bcm_msg get_bcm_msg();
+ struct bcm_msg& get_bcm_msg();
void set_bcm_msg(struct bcm_msg bcm_msg);
std::string get_debug_message();