+ int subscribe(afb_req_t request);
+ int unsubscribe(afb_req_t request);
+
+ int get_index() const;
+ const std::shared_ptr<signal_t> get_signal() const;
+ bool is_signal_subscription_corresponding(const std::shared_ptr<signal_t>, const struct event_filter_t& event_filter) const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
+ const vect_ptr_diag_msg_t get_diagnostic_message() const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
+ const std::string get_name() const;
+ const std::string get_name(uint32_t pid) const;
+ float get_frequency() const;
+ float get_min() const;
+ float get_max() const;
+ bool get_promisc() const;
+ canid_t get_rx_id() const;
+ canid_t get_tx_id() const;
+ std::shared_ptr<utils::socketcan_t> get_socket();
+ std::shared_ptr<message_definition_t> get_message_definition();
+
+ void set_frequency(float freq);
+ void set_min(float min);
+ void set_max(float max);
+ void set_index(int index);
+ void set_promisc(bool promisc);
+ void set_rx_id(canid_t rx_id);
+ void set_tx_id(canid_t tx_id);
+ void set_signal(std::shared_ptr<signal_t> signal);
+ void set_message_definition(std::shared_ptr<message_definition_t> message);
+
+ 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 void remove_last_bcm_frame(struct bcm_msg& bcm_msg);
+
+ static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "", uint32_t flags = INVALID_FLAG);
+
+ int create_rx_filter(std::shared_ptr<signal_t> sig);
+ int create_rx_filter(std::shared_ptr<message_definition_t> msg);
+ int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
+ static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
+ static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
+ static int create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
+ static int create_rx_filter_bcm(low_can_subscription_t &subscription, bcm_msg& bcm_msg);
+
+ static int tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
+ static int j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
+ static int isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);