Change can_message_t class usage for new j1939

This commit transforms the class can_message_t as the base class
and creates two derived classes: j1939_message_t and can_message_t.

Bug-AGL: SPEC-2386

Change-Id: I6d3afd8e4f5abff2cd0ec4e9910bd52a2893de76
Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Signed-off-by: Stephane Desneux <stephane.desneux@iot.bzh>
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 86 insertions, 0 deletions

diff --git a/low-can-binding/can/message/message.hpp b/low-can-binding/can/message/message.hpp
new file mode 100644
index 00000000..6e0daada
--- /dev/null
+++ b/low-can-binding/can/message/message.hpp
@@ -0,0 +1,86 @@
+/*
+ * 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 <vector>
+#include <string>
+#include <cstdint>
+#include <iostream>
+#include <memory>
+#include <linux/can.h>
+#include <linux/can/bcm.h>
+#include "../../utils/timer.hpp"
+
+#define CAN_MESSAGE_SIZE 8
+
+#define MAX_BCM_CAN_FRAMES 257
+
+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];
+	};
+};
+
+/**
+ * @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. */
+	J1939,	  ///< J1939 	- Format for j1939 messages
+	INVALID,  ///< INVALID  - INVALID code used at initialization to signify that it isn't usable'*/
+};
+
+
+/// @class 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 message_t {
+protected:
+	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.*/
+	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:
+	message_t();
+	message_t(uint8_t length, can_message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+
+	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_sub_id(int sub_id);
+	void set_timestamp(uint64_t timestamp);
+	can_message_format_t get_msg_format();
+	virtual bool is_set() = 0;
+	virtual std::string get_debug_message() = 0;
+	virtual uint32_t get_id() const = 0;
+	virtual struct bcm_msg get_bcm_msg() = 0;
+	virtual void set_bcm_msg(struct bcm_msg bcm_msg) = 0;
+
+};