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Diffstat (limited to 'CAN-binder/low-can-binding/can/can-message.hpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.hpp | 80 |
1 files changed, 0 insertions, 80 deletions
diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp deleted file mode 100644 index b206ebdb..00000000 --- a/CAN-binder/low-can-binding/can/can-message.hpp +++ /dev/null @@ -1,80 +0,0 @@ -/* - * 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 <linux/can.h> - -#include "../utils/timer.hpp" - -#define CAN_MESSAGE_SIZE 8 - -/** - * @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. */ - INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/ -}; - -/// @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 { -private: - uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/ - uint32_t id_; ///< id_ - The ID of the message. */ - 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.*/ - bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ - uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ - 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: - can_message_t(); - can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp); - - uint32_t get_id() const; - int get_sub_id() const; - bool get_rtr_flag_() const; - can_message_format_t get_format() const; - uint8_t get_flags() 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); - void set_format(const can_message_format_t new_format); - - bool is_correct_to_send(); - - static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp); - static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp); - - struct canfd_frame convert_to_canfd_frame(); - struct can_frame convert_to_can_frame(); -}; |