diff options
Diffstat (limited to 'src/can-utils.hpp')
| -rw-r--r-- | src/can-utils.hpp | 25 |
1 files changed, 23 insertions, 2 deletions
diff --git a/src/can-utils.hpp b/src/can-utils.hpp index 20267ae2..ee87790e 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -23,11 +23,23 @@ #include <cstdio> #include <string> #include <thread> +#include <fcntl.h> +#include <unistd.h> +#include <net/if.h> +#include <sys/ioctl.h> #include <linux/can.h> +#include <sys/socket.h> +#include <linux/can/raw.h> #include "timer.hpp" #include "openxc.pb.h" +extern "C" +{ + #include <afb/afb-binding.h> + #include <afb/afb-service-itf.h> +} + // TODO actual max is 32 but dropped to 24 for memory considerations #define MAX_ACCEPTANCE_FILTERS 24 // TODO this takes up a ton of memory @@ -38,6 +50,13 @@ #define CAN_ACTIVE_TIMEOUT_S 30 /** + * @brief Function representing thread activated by can bus objects + */ +void can_reader(can_bus_dev_t& can_bus); +void can_decode_message(can_bus_t& can_bus); +void can_event_push(can_bus_t& can_bus); + +/** * @brief The type signature for a CAN signal decoder. * * @desc A SignalDecoder transforms a raw floating point CAN signal into a number, @@ -146,11 +165,13 @@ class can_bus_dev_t { public: can_bus_dev_t(const std::string& dev_name); - int open(); + int open(const struct afb_binding_interface* interface); int close(); bool is_running(); + void start_reading(); + canfd_frame read(const struct afb_binding_interface *interface); - can_message_t* next_can_message(); + can_message_t next_can_message(); void push_new_can_message(const can_message_t& can_msg); bool has_can_message() const; }; |