#include <mutex>
#include <unistd.h>
#include <linux/can/raw.h>
-
-#include "can-bus-dev.hpp"
+#include <linux/can/bcm.h>
#include "can-bus.hpp"
#include "can-message.hpp"
#include "../low-can-binding.hpp"
+#include "canutil/write.h"
+#include "bitfield/bitfield.h"
/// @brief Class constructor
///
/// @param[in] dev_name - String representing the device name into the linux /dev tree
-/// @param[in] address - integer identifier of the bus, set using init_can_dev from can_bus_t.
-can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address)
- : device_name_{dev_name}, address_{address}
+/// @param[in] index - integer identifier of the bus, set using init_can_dev from can_bus_t.
+can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int index)
+ : device_name_{dev_name}, index_{index}
{}
std::string can_bus_dev_t::get_device_name() const
return device_name_;
}
-uint32_t can_bus_dev_t::get_address() const
+int can_bus_dev_t::get_index() const
+{
+ return index_;
+}
+utils::socketcan_t& can_bus_dev_t::get_socket()
{
- return address_;
+ return can_socket_;
}
/// @brief Open the can socket and returning it
DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len,
cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
- return can_message_t::convert_from_canfd_frame(cfd, nbytes);
+ return can_message_t::convert_from_frame(cfd, nbytes);
+}
+
+/// @brief Create a RX_SETUP receive job using the BCM socket.
+///
+/// @return 0 if ok else -1
+int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
+{
+ uint32_t can_id = s.get_message().get_id();
+
+ struct utils::simple_bcm_msg bcm_msg;
+ struct can_frame cfd;
+
+ memset(&cfd, 0, sizeof(cfd));
+ memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
+ uint8_t bit_size = s.get_bit_size();
+ float val = (float)(1 << bit_size)-1;
+
+ bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.can_id = can_id;
+ bcm_msg.msg_head.flags = 0;
+ bcm_msg.msg_head.nframes = 1;
+ bitfield_encode_float(val,
+ s.get_bit_position(),
+ bit_size,
+ s.get_factor(),
+ s.get_offset(),
+ cfd.data,
+ CAN_MAX_DLEN);
+
+ bcm_msg.frames = cfd;
+
+ if(can_socket_ << bcm_msg)
+ return 0;
+ return -1;
}
/// @brief start reading threads and set flag is_running_