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Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
ht .bp { color: #003388 } /* Name.Builtin.Pseudo */ .highlight .fm { color: #0066bb; font-weight: bold } /* Name.Function.Magic */ .highlight .vc { color: #336699 } /* Name.Variable.Class */ .highlight .vg { color: #dd7700 } /* Name.Variable.Global */ .highlight .vi { color: #3333bb } /* Name.Variable.Instance */ .highlight .vm { color: #336699 } /* Name.Variable.Magic */ .highlight .il { color: #0000DD; font-weight: bold } /* Literal.Number.Integer.Long */
/*
 * Copyright (C) 2015, 2016 "IoT.bzh"
 * Author "Romain Forlot" <romain.forlot@iot.bzh>
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *	 http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#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
///
/// @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 : 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*/
		struct bcm_msg bcm_msg_;

	public:
		can_message_t();
		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 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();
};