X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-message.hpp;h=032ef4d35c63156fe5466ea3ea00a975622f8475;hb=a6fb72a70f90c35e0968f2460d324a8505410562;hp=6fe03172f82617c88cc39dbbd0f4d834f547aa3c;hpb=a58d40b5ae336a54408201963b065ee049b43acd;p=apps%2Fagl-service-can-low-level.git

diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/can-message.hpp
index 6fe03172..032ef4d3 100644
--- a/low-can-binding/can/can-message.hpp
+++ b/low-can-binding/can/can-message.hpp
@@ -23,53 +23,50 @@
 #include <linux/can.h>
 
 #include "../utils/timer.hpp"
-#include "can-message-set.hpp"
 
 #define CAN_MESSAGE_SIZE 8
 
-class can_bus_dev_t;
-
 /**
  * @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. */
-	ERROR,    /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
+	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.
- */
+/// @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.*/
+	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);
+	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;
-	bool get_rtr_flag_() const;
-	can_message_format_t get_format() const;
-	uint8_t get_flags() const;
+	int get_sub_id() 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_format(const can_message_format_t new_format);
+	void set_sub_id(int sub_id);
+	void set_timestamp(uint64_t timestamp);
 
 	bool is_correct_to_send();
 
-static can_message_t convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
-	canfd_frame convert_to_canfd_frame();
+	static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
 };