Change can_message_t class usage for new j1939

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

diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/message/message.hpp
similarity index 68%
rename from low-can-binding/can/can-message.hpp
rename to low-can-binding/can/message/message.hpp
index 032ef4d..6e0daad 100644 (file)
--- a/low-can-binding/can/can-message.hpp
+++ b/low-can-binding/can/message/message.hpp
@@ -20,12 +20,25 @@
 #include <vector>
 #include <string>
 #include <cstdint>
+#include <iostream>
+#include <memory>
 #include <linux/can.h>
-
-#include "../utils/timer.hpp"
+#include <linux/can/bcm.h>
+#include "../../utils/timer.hpp"
 
 #define CAN_MESSAGE_SIZE 8
 
+#define MAX_BCM_CAN_FRAMES 257
+
+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];
+       };
+};
+
 /**
  * @enum can_message_format_t
  * @brief The ID format for a CAN message.
@@ -33,30 +46,28 @@
 enum class can_message_format_t {
        STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */
        EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
-       INVALID,    ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
+       J1939,    ///< J1939    - Format for j1939 messages
+       INVALID,  ///< INVALID  - INVALID code used at initialization to signify that it isn't usable'*/
 };
 
-/// @class can_message_t
+
+/// @class message_t
 ///
 /// @brief A compact representation of a single CAN message, meant to be used in in/out
 /// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
-class can_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. */
+class message_t {
+protected:
        uint8_t length_; ///< length_ - the length of the data array (max 8). */
        can_message_format_t format_; ///< format_ - the format of the message's ID.*/
-       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.*/
        std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
        uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/
        int sub_id_; ///< sub_id_ - Subscription index. */
 
+
 public:
-       can_message_t();
-       can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+       message_t();
+       message_t(uint8_t length, can_message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
 
-       uint32_t get_id() const;
        int get_sub_id() const;
        const uint8_t* get_data() const;
        const std::vector<uint8_t> get_data_vector() const;
@@ -65,8 +76,11 @@ public:
 
        void set_sub_id(int sub_id);
        void set_timestamp(uint64_t timestamp);
+       can_message_format_t get_msg_format();
+       virtual bool is_set() = 0;
+       virtual std::string get_debug_message() = 0;
+       virtual uint32_t get_id() const = 0;
+       virtual struct bcm_msg get_bcm_msg() = 0;
+       virtual void set_bcm_msg(struct bcm_msg bcm_msg) = 0;
 
-       bool is_correct_to_send();
-
-       static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
 };