diff options
Diffstat (limited to 'src/can-message.hpp')
| -rw-r--r-- | src/can-message.hpp | 49 |
1 files changed, 45 insertions, 4 deletions
diff --git a/src/can-message.hpp b/src/can-message.hpp index 6e51d928..f24c1700 100644 --- a/src/can-message.hpp +++ b/src/can-message.hpp @@ -57,10 +57,14 @@ typedef struct CanMessage CanMessage; class can_message_t { private: uint32_t id_; /*!< uint32_t id - The ID of the message. */ + bool rtr_flag_; /*!< bool rtr_flag - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */ + uint8_t flags_; /*!< unint8_t flags of a CAN FD frame. Needed if we catch FD frames.*/ CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/ uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ + uint8_t maxdlen_; + public: /** * @brief Class constructor @@ -77,6 +81,13 @@ class can_message_t { uint32_t get_id() const; /** + * @brief Retrieve RTR flag member. + * + * @return bool rtr_flags_ class member + */ + bool get_rtr_flag_() const; + + /** * @brief Retrieve format_ member value. * * @return CanMessageFormat format_ class member @@ -84,6 +95,13 @@ class can_message_t { int get_format() const; /** + * @brief Retrieve format_ member value. + * + * @return CanMessageFormat format_ class member + */ + uint8_t get_flags() const; + + /** * @brief Retrieve data_ member value. * * @return uint8_t data_ pointer class member @@ -96,6 +114,8 @@ class can_message_t { * @return uint8_t length_ class member */ uint8_t get_length() const; + + void set_max_data_length(const struct canfd_frame& frame); /** * @brief Control whether the object is correctly initialized @@ -113,7 +133,7 @@ class can_message_t { * * @param uint32_t id_ class member */ - void set_id(const uint32_t new_id); + void set_id_and_format(const uint32_t new_id); /** * @brief Set format_ member value. @@ -123,9 +143,30 @@ class can_message_t { * * @param CanMessageFormat format_ class member */ - void set_format(const CanMessageFormat format); + void set_format(const CanMessageFormat new_format); /** + * @brief Set format_ member value. Deducing from the can_id + * of a canfd_frame. + * + * Preferred way to initialize these members by using + * convert_from_canfd_frame method. + * + * @param uint32_t can_id integer from a canfd_frame + */ + void set_format(const uint32_t can_id); + + /** + * @brief Set format_ member value. + * + * Preferred way to initialize these members by using + * convert_from_canfd_frame method. + * + * @param CanMessageFormat format_ class member + */ + void set_flags(const uint8_t flags); + + /** * @brief Set data_ member value. * * Preferred way to initialize these members by using @@ -133,7 +174,7 @@ class can_message_t { * * @param uint8_t data_ array with a max size of 8 elements. */ - void set_data(const uint8_t new_data); + void set_data(const __u8 new_data[], size_t dlen); /** * @brief Set length_ member value. @@ -152,7 +193,7 @@ class can_message_t { * * @param canfd_frame struct read from can bus device. */ - void convert_from_canfd_frame(const canfd_frame& frame); + void convert_from_canfd_frame(const struct canfd_frame& frame); /** * @brief Take all initialized class's members and build an |