/* * Copyright (C) 2015, 2016, 2017, 2018, 2019 "IoT\.bzh" * Author "Romain Forlot" <romain.forlot@iot.bzh> * Author "Loïc Collignon" <loic.collignon@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 <utility> #include <mutex> #include <queue> #include <thread> #include <linux/can.h> #include <condition_variable> #include "openxc.pb.h" #include "message/can-message.hpp" #include "../utils/config-parser.hpp" #include "../binding/low-can-subscription.hpp" /// @brief A container for a CAN module paried with a certain bus. /// /// There are three things that control the operating mode of the CAN controller: /// /// - Should arbitrary CAN message writes be allowed? See rawWritable. /// - Should translated, simple vehicle message writes be allowed? See the /// 'writable' field in signals defined for this bus. /// class can_bus_t { private: int index; std::string name; std::string device_name; float max_message_frequency; //<! maxMessageFrequency - the default maximum frequency for all CAN messages when /// using the raw passthrough mode. To disable frequency limit, set /// this to 0. bool raw_writable; //<! rawWritable - Set to True if the CAN bus connection should allow raw CAN messages /// writes. This is independent from the CanSignal 'writable' option, which /// can also be set to allow translated writes back to this bus. bool passthrough_can_messages; //<! passthroughCanMessages - Set to True if low-level CAN messages should be able to send to the /// output interface, not just signals as simple vehicle messages. public: int get_index() const; const std::string get_bus_name() const; const std::string get_bus_device_name() const; const float max_message_frequency() const; bool get_raw_writable() const; bool get_passthrough_can_messages() const; };