Fix: improve can_message read

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

diff --git a/src/can-message.hpp b/src/can-message.hpp
index 6e51d92..f24c170 100644 (file)
--- a/src/can-message.hpp
+++ b/src/can-message.hpp
@@ -57,10 +57,14 @@ typedef struct CanMessage CanMessage;
 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.*/
                uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data  - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
 
+               uint8_t maxdlen_;
+
        public:
                /**
                 * @brief Class constructor
@@ -76,6 +80,13 @@ class can_message_t {
                 */
                uint32_t get_id() const;
                
+               /**
+                * @brief Retrieve RTR flag member.
+                *
+                * @return bool rtr_flags_ class member
+                */
+               bool get_rtr_flag_() const;
+
                /**
                 * @brief Retrieve format_ member value.
                 *
@@ -83,6 +94,13 @@ class can_message_t {
                 */
                int get_format() const;
                
+               /**
+                * @brief Retrieve format_ member value.
+                *
+                * @return CanMessageFormat format_ class member
+                */
+               uint8_t get_flags() const;
+               
                /**
                 * @brief Retrieve data_ member value.
                 *
@@ -96,6 +114,8 @@ class can_message_t {
                 * @return uint8_t length_ class member
                 */
                uint8_t get_length() const;
+               
+               void set_max_data_length(const struct canfd_frame& frame);
 
                /**
                 * @brief Control whether the object is correctly initialized
@@ -113,7 +133,7 @@ class can_message_t {
                 *
                 * @param uint32_t id_ class member
                 */
-               void set_id(const uint32_t new_id);
+               void set_id_and_format(const uint32_t new_id);
                
                /**
                 * @brief Set format_ member value.
@@ -123,8 +143,29 @@ class can_message_t {
                 *
                 * @param CanMessageFormat format_ class member
                 */
-               void set_format(const CanMessageFormat format);
+               void set_format(const CanMessageFormat new_format);
                
+               /**
+                * @brief Set format_ member value. Deducing from the can_id
+                *  of a canfd_frame.
+                *
+                * Preferred way to initialize these members by using 
+                * convert_from_canfd_frame method.
+                *
+                * @param uint32_t can_id integer from a canfd_frame
+                */
+               void set_format(const uint32_t can_id);
+
+               /**
+                * @brief Set format_ member value.
+                *
+                * Preferred way to initialize these members by using 
+                * convert_from_canfd_frame method.
+                *
+                * @param CanMessageFormat format_ class member
+                */
+               void set_flags(const uint8_t flags);
+
                /**
                 * @brief Set data_ member value.
                 *
@@ -133,7 +174,7 @@ class can_message_t {
                 *
                 * @param uint8_t data_ array with a max size of 8 elements.
                 */
-               void set_data(const uint8_t new_data);
+               void set_data(const __u8 new_data[], size_t dlen);
                
                /**
                 * @brief Set length_ member value.
@@ -152,7 +193,7 @@ class can_message_t {
                 *
                 * @param canfd_frame struct read from can bus device.
                 */
-               void convert_from_canfd_frame(const canfd_frame& frame);
+               void convert_from_canfd_frame(const struct canfd_frame& frame);
                
                /**
                 * @brief Take all initialized class's members and build an