X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fmessage%2Fcan-message.hpp;h=d3d8453c268355ae71ead371573d7628cdd44baa;hb=45d94ded14cb99aafa8c93c5d1cce457551e48ea;hp=7625cc1734e4b13f731f2df35bae370b54e67397;hpb=88077fb4b383cf7f35093b6cc0d2d9d86c6f1bf3;p=apps%2Fagl-service-can-low-level.git

diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp
index 7625cc17..d3d8453c 100644
--- a/low-can-binding/can/message/can-message.hpp
+++ b/low-can-binding/can/message/can-message.hpp
@@ -18,7 +18,14 @@
 #pragma once
 #include "./message.hpp"
 
-
+struct bcm_msg
+{
+	struct bcm_msg_head msg_head;
+	union {
+		struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
+		struct can_frame frames[MAX_BCM_CAN_FRAMES];
+	};
+};
 
 /// @class can_message_t
 ///
@@ -28,24 +35,29 @@ class can_message_t : public message_t {
 	private:
 		uint32_t id_; ///< id_ - The ID of the message. */
 		bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
-		uint32_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
 		struct bcm_msg bcm_msg_;
 
 	public:
 		can_message_t();
-		can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, message_format_t format, bool rtr_flag_, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+		can_message_t(  uint32_t maxdlen,
+				uint32_t id,
+				uint32_t length,
+				bool rtr_flag_,
+				uint32_t flags,
+				std::vector<uint8_t>& data,
+				uint64_t timestamp);
 
 		uint32_t get_id() const;
+		void set_id(const canid_t id);
+		bool is_correct_to_send();
 
 		static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
 		struct canfd_frame convert_to_canfd_frame();
-		struct can_frame convert_to_can_frame();
-
-		bool is_correct_to_send();
-		bool is_set();
-		struct bcm_msg get_bcm_msg();
+		struct std::vector<canfd_frame> convert_to_canfd_frame_vector();
+		struct bcm_msg& get_bcm_msg();
 		void set_bcm_msg(struct bcm_msg bcm_msg);
 
+		struct can_frame convert_to_can_frame();
+		bool is_set();
 		std::string get_debug_message();
-		uint32_t get_flags();
 };