#pragma once
#include <stdint.h>
-#include <linux/can.h>
#include <string>
#include <thread>
-#include "../utils/socket.hpp"
+#include "../utils/socketcan-raw.hpp"
class can_bus_t;
class can_message_t;
+class can_signal_t;
/// @brief Object representing a can device. Handle opening, closing and reading on the
/// socket. This is the low level object to be initialized and use by can_bus_t.
{
private:
std::string device_name_; ///< a string identifier identitfying the linux CAN device.
- utils::socketcan_t can_socket_;
+ utils::socketcan_raw_t can_socket_; ///< can_socket_ - A Raw socket attached to a specified device
- int32_t address_; ///< an identifier used through binding that refer to that device
-
- bool is_fdmode_on_; ///< boolean telling if whether or not the can socket use fdmode.
+ int index_; ///< index_ - An index number, it's the index number to access this object using the can_devices_ map from can_bus_t class
std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
bool is_running_ = false; ///< boolean telling whether or not reading is running or not
void can_reader(can_bus_t& can_bus);
public:
- can_bus_dev_t(const std::string& dev_name, int32_t address);
+ can_bus_dev_t(const std::string& dev_name, int index);
std::string get_device_name() const;
- uint32_t get_address() const;
+ int get_index() const;
+ utils::socketcan_t& get_socket();
- int open(bool bcm=false);
+ int open();
+ void configure();
int close();
void start_reading(can_bus_t& can_bus);