X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;ds=sidebyside;f=low-can-binding%2Fcan%2Fcan-message.hpp;fp=low-can-binding%2Fcan%2Fcan-message.hpp;h=b206ebdb1d92f3efa4ab1da30e3352cea46fd447;hb=32e25cbca210a359b09768537b6f443fe90a3070;hp=0000000000000000000000000000000000000000;hpb=76c43dec62b2e21cd6446360c00d4fe6b437533f;p=apps%2Flow-level-can-service.git

diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/can-message.hpp
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+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <vector>
+#include <string>
+#include <cstdint>
+#include <linux/can.h>
+
+#include "../utils/timer.hpp"
+
+#define CAN_MESSAGE_SIZE 8
+
+/**
+ * @enum can_message_format_t
+ * @brief The ID format for a CAN message.
+ */
+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'*/
+};
+
+/// @class can_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. */
+	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);
+
+	uint32_t get_id() const;
+	int get_sub_id() const;
+	bool get_rtr_flag_() const;
+	can_message_format_t get_format() const;
+	uint8_t get_flags() const;
+	const uint8_t* get_data() const;
+	const std::vector<uint8_t> get_data_vector() const;
+	uint8_t get_length() const;
+	uint64_t get_timestamp() const;
+
+	void set_sub_id(int sub_id);
+	void set_timestamp(uint64_t timestamp);
+	void set_format(const can_message_format_t new_format);
+
+	bool is_correct_to_send();
+
+	static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
+	static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp);
+
+	struct canfd_frame convert_to_canfd_frame();
+	struct can_frame convert_to_can_frame();
+};