CAN FD implementation

[apps/agl-service-can-low-level.git] / low-can-binding / binding / low-can-socket.hpp

diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp
index 71731b3..d46f1f8 100644 (file)
--- a/low-can-binding/binding/low-can-socket.hpp
+++ b/low-can-binding/binding/low-can-socket.hpp
@@ -25,21 +25,23 @@
 #include "../diagnostic/diagnostic-message.hpp"
 #include "../utils/socketcan-bcm.hpp"
 
-/// @brief Filtering values. Theses values has to be tested into
+#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
+
+/// @brief Filtering values. Theses values have to be tested in
 /// can_bus_t::apply_filter method.
 struct event_filter_t
 {
-       float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event.
-       float min; ///< min - Minimum value that the signal don't have to go below to be pushed.
-       float max; ///< max - Maximum value that the signal don't have to go above to be pushed.
+       float frequency; ///< frequency - Maximum frequency which will be received and pushed to a subscribed event.
+       float min; ///< min - Minimum value that the signal doesn't have to go below to be pushed.
+       float max; ///< max - Maximum value that the signal doesn't have to go above to be pushed.
        event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__} {};
        bool operator==(const event_filter_t& ext) const {
                return frequency == ext.frequency && min == ext.min && max == ext.max;
        }
 };
 
-/// @brief An object storing socket to CAN to be used to write on it.
-/// This is a simple access to a CAN bus device without subscriptions attached
+/// @brief The object stores socket to CAN to be used to write on it.
+/// This is a simple access to a CAN bus device without any subscriptions attached
 class low_can_socket_t
 {
 protected:
@@ -48,8 +50,8 @@ protected:
 
        /// Signal part
        std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
-       std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses.
-                               /// normal diagnostic request and response not tested for now.
+       std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2 responses.
+                               /// normal diagnostic request and response are not tested for now.
 
        utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
 
@@ -76,20 +78,19 @@ public:
        float get_max() const;
        utils::socketcan_bcm_t& get_socket();
 
-       void set_event(struct afb_event event);
+       void set_event(afb_event_t event);
        void set_frequency(float freq);
        void set_min(float min);
        void set_max(float max);
 
-       struct utils::simple_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}) const;
-       void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
+       struct utils::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}) const;
+       void add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const;
 
        int open_socket(const std::string& bus_name = "");
 
        int create_rx_filter(std::shared_ptr<can_signal_t> sig);
        int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
-       int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
+       int create_rx_filter(utils::bcm_msg& bcm_msg);
 
-       int tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig);
-       int tx_send(const struct can_frame& cf, const std::string& bus_name);
+       int tx_send(struct canfd_frame& cfd, const std::string& bus_name);
 };