#include <memory>
#include <linux/can.h>
#include <linux/can/bcm.h>
-#include "../../utils/timer.hpp"
-
-#define CAN_MESSAGE_SIZE 8
-
-#define MAX_BCM_CAN_FRAMES 257
-
-
-/**
- * @enum message_format_t
- * @brief The ID format for a CAN message.
- */
-enum class message_format_t {
- STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */
- EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
- J1939, ///< J1939 - Format for j1939 messages
- INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
-};
-
+#include <low-can/can-message.hpp>
/// @class message_t
///
protected:
uint32_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
uint32_t length_; ///< length_ - the length of the data array. */
- message_format_t format_; ///< format_ - the format of the message's ID.*/
+ uint32_t flags_; ///< format_ - the format mask of the message that control which socketcan will used*/
std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/
int sub_id_; ///< sub_id_ - Subscription index. */
-
-
public:
message_t();
- message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+ message_t(uint32_t maxdlen, uint32_t length, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
virtual ~message_t() = default;
int get_sub_id() const;
uint32_t get_length() const;
uint64_t get_timestamp() const;
- void set_data(std::vector<uint8_t> &data);
+ void set_data(std::vector<uint8_t> data);
void set_sub_id(int sub_id);
void set_timestamp(uint64_t timestamp);
- message_format_t get_msg_format();
virtual bool is_set() = 0;
virtual std::string get_debug_message() = 0;
virtual uint32_t get_id() const = 0;
-
+ virtual void set_id(canid_t id) = 0;
+ uint32_t get_flags();
+ void set_flags(uint32_t flags);
+ void erase_flags();
+ uint32_t get_maxdlen();
+ void set_maxdlen(uint32_t maxdlen);
+ void set_length(uint32_t length);
+ void frame_swap();
};