#include <cstdint>
#include <linux/can.h>
+#include "can/can-bus.hpp"
#include "utils/timer.hpp"
#define CAN_MESSAGE_SIZE 8
*/
class can_message_t {
private:
- uint32_t id_; /*!< uint32_t id - The ID of the message. */
- bool rtr_flag_; /*!< bool rtr_flag - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
- uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */
- uint8_t flags_; /*!< unint8_t flags of a CAN FD frame. Needed if we catch FD frames.*/
- CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
- std::vector<uint8_t> data_; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+ 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 length_; /*!< length_ - the length of the data array (max 8). */
+ uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
+ CanMessageFormat format_; /*!< format_ - the format of the message's ID.*/
+ std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
- uint8_t maxdlen_;
+ uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
public:
can_message_t();
};
typedef struct CanMessageDefinition CanMessageDefinition;
+class can_message_definition_t
+{
+ private:
+ can_bus_dev_t& bus_; /*!< bus_ - A pointer to the bus this message is on. */
+ uint32_t id_; /*!< id_ - The ID of the message.*/
+ CanMessageFormat format_; /*!< format_ - the format of the message's ID.*/
+ FrequencyClock clock_; /*!< clock_ - an optional frequency clock to control the output of this
+ * message, if sent raw, or simply to mark the max frequency for custom
+ * handlers to retriec++ if ? syntaxve.*/
+ bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN
+ * message if it has changed when using raw passthrough.*/
+ uint8_t last_value_[CAN_MESSAGE_SIZE]; /*!< last_value_ - The last received value of the message. Defaults to undefined.
+ * This is required for the forceSendChanged functionality, as the stack
+ * needs to compare an incoming CAN message with the previous frame.*/
+
+ public:
+ uint32_t get_id();
+};
+
/**
* @struct CanMessageSet
*
class can_message_set_t
{
private:
- uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
+ uint8_t index_; /*!<index_ - A numerical ID for the message set, ideally the index in an array
* for fast lookup*/
- const std::string name; /*!< name - The name of the message set.*/
- uint8_t can_bus_count; /*!< busCount - The number of CAN buses defined for this message set.*/
- unsigned short can_message_count; /*!< messageCount - The number of CAN messages (across all buses) defined for
+ const std::string name_; /*!< name_ - The name of the message set.*/
+ uint8_t can_bus_count_; /*!< can_bus_count_ - The number of CAN buses defined for this message set.*/
+ unsigned short can_message_count_; /*!< can_message_count_ - The number of CAN messages (across all buses) defined for
* this message set.*/
- unsigned short can_signal_count; /*!< signalCount - The number of CAN signals (across all messages) defined for
+ unsigned short can_signal_count_; /*!< can_signal_count_ - The number of CAN signals (across all messages) defined for
* this message set.*/
- unsigned short can_command_count; /*!< commandCount - The number of CanCommmands defined for this message set.*/
- unsigned short obd2_signal_count; /*!< commandCount - The number of obd2 signals defined for this message set.*/
+ unsigned short can_command_count_; /*!< can_command_count_ - The number of CanCommmands defined for this message set.*/
+ unsigned short obd2_signal_count_; /*!< obd2_signal_count_ - The number of obd2 signals defined for this message set.*/
};
/** Public: Return the currently active CAN configuration. */