X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-message.hpp;h=9f6a36dafbad690b8972772c72a6c4e9b4b91ae1;hb=7578df6fb02f05aea7fb69938f8a15a9c3e6c53a;hp=6e51d928e878540645dc4cb0ba2bd71b6016714c;hpb=65d08bdea23d81c5d639ab9fac428ccd87673c8d;p=apps%2Fagl-service-can-low-level.git

diff --git a/src/can-message.hpp b/src/can-message.hpp
index 6e51d928..9f6a36da 100644
--- a/src/can-message.hpp
+++ b/src/can-message.hpp
@@ -17,6 +17,7 @@
 
 #pragma once
 
+#include <vector>
 #include <string>
 #include <cstdint>
 #include <linux/can.h>
@@ -57,110 +58,35 @@ typedef struct CanMessage CanMessage;
 class can_message_t {
 	private:
 		uint32_t id_; /*!< uint32_t id - The ID of the message. */
+		bool rtr_flag_; /*!< bool rtr_flag - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
 		uint8_t length_; /*!<  uint8_t length - the length of the data array (max 8). */
+		uint8_t flags_; /*!< unint8_t flags of a CAN FD frame. Needed if we catch FD frames.*/
 		CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
-		uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data  - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+		std::vector<uint8_t> data_; /*!< uint8_t data  - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+
+		uint8_t maxdlen_;
 
 	public:
-		/**
-		 * @brief Class constructor
-		 *
-		 * Constructor about can_message_t class.
-		 */
 		can_message_t();
 
-		/**
-		 * @brief Retrieve id_ member value.
-		 *
-		 * @return uint32_t id_ class member
-		 */
 		uint32_t get_id() const;
-		
-		/**
-		 * @brief Retrieve format_ member value.
-		 *
-		 * @return CanMessageFormat format_ class member
-		 */
+		bool get_rtr_flag_() const;
 		int get_format() const;
-		
-		/**
-		 * @brief Retrieve data_ member value.
-		 *
-		 * @return uint8_t data_ pointer class member
-		 */
+		uint8_t get_flags() const;
 		const uint8_t* get_data() const;
-		
-		/**
-		 * @brief Retrieve length_ member value.
-		 *
-		 * @return uint8_t length_ class member
-		 */
 		uint8_t get_length() const;
 
-		/**
-		 * @brief Control whether the object is correctly initialized
-		 *  to be sent over the CAN bus
-		 *
-		 * @return true if object correctly initialized and false if not...
-		 */
-		bool is_correct_to_send();
-		
-		/**
-		 * @brief Set id_ member value.
-		 *
-		 * Preferred way to initialize these members by using 
-		 * convert_from_canfd_frame method.
-		 *
-		 * @param uint32_t id_ class member
-		 */
-		void set_id(const uint32_t new_id);
-		
-		/**
-		 * @brief Set format_ member value.
-		 *
-		 * Preferred way to initialize these members by using 
-		 * convert_from_canfd_frame method.
-		 *
-		 * @param CanMessageFormat format_ class member
-		 */
-		void set_format(const CanMessageFormat format);
-		
-		/**
-		 * @brief Set data_ member value.
-		 *
-		 * Preferred way to initialize these members by using 
-		 * convert_from_canfd_frame method.
-		 *
-		 * @param uint8_t data_ array with a max size of 8 elements.
-		 */
-		void set_data(const uint8_t new_data);
-		
-		/**
-		 * @brief Set length_ member value.
-		 *
-		 * Preferred way to initialize these members by using 
-		 * convert_from_canfd_frame method.
-		 *
-		 * @param uint8_t length_ array with a max size of 8 elements.
-		 */
+		void set_max_data_length(size_t nbytes);
+		void set_id_and_format(const uint32_t new_id);
+		void set_format(const CanMessageFormat new_format);
+		void set_format(const uint32_t can_id);
+		void set_flags(const uint8_t flags);
+		void set_data(const __u8* new_data);
 		void set_length(const uint8_t new_length);
 
-		/**
-		 * @brief Take a canfd_frame struct to initialize class members
-		 *
-		 * This is the preferred way to initialize class members.
-		 *
-		 * @param canfd_frame struct read from can bus device.
-		 */
-		void convert_from_canfd_frame(const canfd_frame& frame);
-		
-		/**
-		 * @brief Take all initialized class's members and build an 
-		 * canfd_frame struct that can be use to send a CAN message over
-		 * the bus.
-		 *
-		 * @return canfd_frame struct built from class members.
-		 */
+		bool is_correct_to_send();
+
+		void convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args);
 		canfd_frame convert_to_canfd_frame();
 };