#pragma once
+#include <stdint.h>
+#include <linux/can.h>
#include <string>
#include <thread>
-#include <linux/can.h>
#include "../utils/socket.hpp"
class can_message_t;
/// @brief Object representing a can device. Handle opening, closing and reading on the
-/// socket. This is the low level object to be use by can_bus_t.
+/// socket. This is the low level object to be initialized and use by can_bus_t.
class can_bus_dev_t
{
private:
- std::string device_name_;
+ std::string device_name_; ///< a string identifier identitfying the linux CAN device.
utils::socket_t can_socket_;
- int32_t id_; /// < an identifier used through binding that refer to that 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.
+ bool is_fdmode_on_; ///< boolean telling if whether or not the can socket use fdmode.
struct sockaddr_can txAddress_; /// < internal member using to bind to the socket
- std::thread th_reading_; /// < Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
- bool is_running_; /// < boolean telling whether or not reading is running or not
+ 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);
+ can_bus_dev_t(const std::string& dev_name, int32_t address);
+
+ std::string get_device_name() const;
+ uint32_t get_address() const;
int open();
int close();
void stop_reading();
- std::pair<struct canfd_frame&, size_t> read();
+ can_message_t read();
- int send_can_message(can_message_t& can_msg);
+ int send(can_message_t& can_msg);
+ bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
};