From 9e444ade872bc436cf12bc12d03c3a5d51ac0b9e Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Tue, 11 Apr 2017 12:55:23 +0200 Subject: Handle project new architecture using new CMakeFile Change-Id: I672a9b49d9d5a3953ba6dccaafbbd738839f64a6 Signed-off-by: Romain Forlot # Conflicts: # low-can-binding/libs/bitfield-c # low-can-binding/libs/isotp-c # low-can-binding/libs/openxc-message-format --- low-can-binding/can/can-bus-dev.hpp | 65 +++++++++++++++++++++++++++++++++++++ 1 file changed, 65 insertions(+) create mode 100644 low-can-binding/can/can-bus-dev.hpp (limited to 'low-can-binding/can/can-bus-dev.hpp') diff --git a/low-can-binding/can/can-bus-dev.hpp b/low-can-binding/can/can-bus-dev.hpp new file mode 100644 index 00000000..a612e7d8 --- /dev/null +++ b/low-can-binding/can/can-bus-dev.hpp @@ -0,0 +1,65 @@ +/* + * Copyright (C) 2015, 2016, 2017 "IoT.bzh" + * Author "Romain Forlot" + * Author "Loïc Collignon" + * + * 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 +#include +#include +#include + +#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 initialized and use by can_bus_t. +class can_bus_dev_t +{ +private: + std::string device_name_; ///< a string identifier identitfying the linux CAN device. + utils::socket_t can_socket_; + + int32_t address_; ///< 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_ = false; ///< 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, int32_t address); + + std::string get_device_name() const; + uint32_t get_address() const; + + int open(); + int close(); + + void start_reading(can_bus_t& can_bus); + + void stop_reading(); + + can_message_t read(); + + int send(can_message_t& can_msg); + bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size); +}; -- cgit 1.2.3-korg