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authorLoïc Collignon <loic.collignon@iot.bzh>2017-03-08 14:47:38 +0100
committerRomain Forlot <romain.forlot@iot.bzh>2017-03-16 17:10:39 +0100
commit9519e9d5b875b45fbf6f32267b728b1d11377276 (patch)
treefbd5c7b6c317c63920a77090676485a9e3612fc2 /src/can/can-bus-dev.hpp
parentb4d0643afdb3ad69298dac22e4b3380038f301af (diff)
separation of can_bus_t and can_bus_dev_t and use of the new socket class.
Change-Id: I5f292ab18737fa48259f357d660fed27fb8fb4be Signed-off-by: Loïc Collignon <loic.collignon@iot.bzh>
Diffstat (limited to 'src/can/can-bus-dev.hpp')
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1 files changed, 60 insertions, 0 deletions
diff --git a/src/can/can-bus-dev.hpp b/src/can/can-bus-dev.hpp
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+/*
+ * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc Collignon" <loic.collignon@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 <string>
+#include <thread>
+#include <linux/can.h>
+
+#include "../utils/socket.hpp"
+
+class can_bus_t;
+class can_message_t;
+
+/// @brief Object representing a can device. Handle opening, closing and reading on the
+/// socket. This is the low level object to be use by can_bus_t.
+class can_bus_dev_t
+{
+private:
+ std::string device_name_;
+ utils::socket_t can_socket_;
+
+ int32_t id_; /// < an identifier used through binding that refer to that device
+
+ bool is_fdmode_on_; /// < boolean telling if whether or not the can socket use fdmode.
+ struct sockaddr_can txAddress_; /// < internal member using to bind to the socket
+
+ std::thread th_reading_; /// < Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
+ bool is_running_; /// < boolean telling whether or not reading is running or not
+ void can_reader(can_bus_t& can_bus);
+
+public:
+ can_bus_dev_t(const std::string& dev_name);
+
+ int open();
+ int close();
+
+ void start_reading(can_bus_t& can_bus);
+
+ void stop_reading();
+
+ std::pair<struct canfd_frame&, size_t> read();
+
+ int send_can_message(can_message_t& can_msg);
+};