X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus-dev.hpp;h=38727e0308a29309ff5b7fc6ab53fa0cb7032865;hb=45dd042f924236be04d4e4292de111f80a004060;hp=3e6b2d1ca8e2b58b69a5bbad8029c901c9559236;hpb=f546e121079088920e2a3f64bc054afa05ff945f;p=apps%2Fagl-service-can-low-level.git

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
index 3e6b2d1c..38727e03 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -19,14 +19,14 @@
 #pragma once
 
 #include <stdint.h>
-#include <linux/can.h>
 #include <string>
 #include <thread>
 
-#include "../utils/socket.hpp"
+#include "../utils/socketcan.hpp"
 
 class can_bus_t;
 class can_message_t;
+class can_signal_t;
 
 /// @brief Object representing a can device. Handle opening, closing and reading on the
 /// socket. This is the low level object to be initialized and use by can_bus_t.
@@ -36,9 +36,7 @@ private:
 	std::string device_name_; ///< a string identifier identitfying the linux CAN device.
 	utils::socketcan_t can_socket_;
 
-	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.
+	int index_;
 
 	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
@@ -48,9 +46,10 @@ public:
 	can_bus_dev_t(const std::string& dev_name, int32_t address);
 
 	std::string get_device_name() const;
-	uint32_t get_address() const;
+	int get_index() const;
 
-	int open_raw();
+	int open();
+	void configure();
 	int close();
 
 	void start_reading(can_bus_t& can_bus);
@@ -58,6 +57,7 @@ public:
 	void stop_reading();
 
 	can_message_t read();
+	int create_rx_filter(const can_signal_t& s);
 
 	int send(can_message_t& can_msg);
 	bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);