/* * Copyright (C) 2015, 2016, 2017 "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 <stdint.h> #include <linux/can.h> #include <string> #include <thread> #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 use by can_bus_t. class can_bus_dev_t { private: std::string device_name_; 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; 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); };