X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus-dev.hpp;h=973c8cfa994f2375cfe3529024b5cc98b92e6bda;hb=3d3fbfd56b476a1f36bfc9cabf5a21f981d06844;hp=8cafaf83550c424e921782e70823c8c22add54a1;hpb=0a27582743cb7b4ad191adea4eefeda01d179896;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 8cafaf83..973c8cfa 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-raw.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.
@@ -34,23 +34,23 @@ class can_bus_dev_t
 {
 private:
 	std::string device_name_; ///< a string identifier identitfying the linux CAN device.
-	utils::socketcan_t can_socket_;
+	utils::socketcan_raw_t can_socket_; ///< can_socket_ - A Raw socket attached to a specified 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.
+	int index_; ///< index_ - An index number, it's the index number to access this object using the can_devices_ map from can_bus_t class
 
 	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, int32_t address);
+	can_bus_dev_t(const std::string& dev_name, int index);
 
 	std::string get_device_name() const;
-	uint32_t get_address() const;
+	int get_index() const;
+	utils::socketcan_t& get_socket();
 
-	int open(bool bcm=false);
+	int open();
+	void configure();
 	int close();
 
 	void start_reading(can_bus_t& can_bus);