+/*
+ * @brief This is the preferred way to initialize a CanMessage object
+ * from a read canfd_frame message.
+ *
+ * @param: canfd_frame pointer
+ */
+void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
+{
+ length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
+ length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
+
+ if (frame.can_id & CAN_ERR_FLAG)
+ id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ else if (frame.can_id & CAN_EFF_FLAG)
+ {
+ id_ = frame.can_id & CAN_EFF_MASK;
+ format_ = CanMessageFormat::EXTENDED;
+ }
+ else
+ {
+ id_ = frame.can_id & CAN_SFF_MASK;
+ format_ = CanMessageFormat::STANDARD;
+ }
+
+ if (sizeof(frame.data) <= sizeof(data_))
+ ::memcpy(&data_, frame.data, length_);
+ else if (sizeof(frame.data) >= CAN_MAX_DLEN)
+ ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
+}
+
+canfd_frame can_message_t::convert_to_canfd_frame()
+{
+ canfd_frame frame;
+
+ frame.can_id = get_id();
+ frame.len = get_length();
+ ::memcpy(frame.data, get_data(), length_);
+
+ return frame;
+}
+/********************************************************************************
+*
+* can_bus_dev_t method implementation
+*
+*********************************************************************************/
+
+can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
+ : device_name_{dev_name}
+{
+}
+
+int can_bus_dev_t::open(const struct afb_binding_interface* interface)