- struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const;
- void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
- int open_socket();
- int create_rx_filter(std::shared_ptr<can_signal_t> sig);
+ static struct bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0});
+ static void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg);
+
+ static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "");
+
+ int create_rx_filter(std::shared_ptr<signal_t> sig);