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Diffstat (limited to 'low-can-binding/can/can-message.hpp')
| -rw-r--r-- | low-can-binding/can/can-message.hpp | 80 |
1 files changed, 80 insertions, 0 deletions
diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/can-message.hpp new file mode 100644 index 00000000..b206ebdb --- /dev/null +++ b/low-can-binding/can/can-message.hpp @@ -0,0 +1,80 @@ +/* + * 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(); +}; |