write: Add feature to build messages and fix some functions

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

diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp
index df0d2a1..8bc9aab 100644 (file)
--- a/low-can-binding/can/message/can-message.hpp
+++ b/low-can-binding/can/message/can-message.hpp
@@ -18,7 +18,14 @@
 #pragma once
 #include "./message.hpp"
 
-
+struct bcm_msg
+{
+       struct bcm_msg_head msg_head;
+       union {
+               struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
+               struct can_frame frames[MAX_BCM_CAN_FRAMES];
+       };
+};
 
 /// @class can_message_t
 ///
@@ -26,24 +33,28 @@
 /// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
 class can_message_t : public message_t {
        private:
-               uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
                uint32_t id_; ///< id_ - The ID of the message. */
                bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
-               uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
                struct bcm_msg bcm_msg_;
 
        public:
                can_message_t();
-               can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+               can_message_t(  uint32_t maxdlen,
+                                               uint32_t id,
+                                               uint32_t length,
+                                               bool rtr_flag_,
+                                               uint32_t flags,
+                                               std::vector<uint8_t>& data,
+                                               uint64_t timestamp);
 
                uint32_t get_id() const;
+               void set_id(const canid_t id);
 
                static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
-               bool is_correct_to_send();
-               bool is_set();
-               struct bcm_msg get_bcm_msg();
+               struct canfd_frame convert_to_canfd_frame();
+               struct std::vector<canfd_frame> convert_to_canfd_frame_vector();
+               struct bcm_msg& get_bcm_msg();
                void set_bcm_msg(struct bcm_msg bcm_msg);
 
                std::string get_debug_message();
-
 };