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/*
* Copyright (C) 2015, 2016 "IoT.bzh"
* Author "Romain Forlot" <romain.forlot@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.
*/
#include <string>
#include "../utils/socketcan-bcm.hpp"
struct event_filter_t
{
float frequency;
float min;
float max;
};
class low_can_subscription_t
{
private:
int index_;
/// Signal part
std::string sig_name_;
std::string bus_name_;
uint32_t can_id_;
uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming
* non-inverted bit numbering, i.e. the most significant bit of
* each byte is 0) */
uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */
float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you
* don't need a factor. */
float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you
* don't need an offset. */
/// Filtering part
struct event_filter_t event_filter_ = {-1.0, -1.0, -1.0};
utils::socketcan_bcm_t socket_;
public:
low_can_subscription_t();
low_can_subscription_t(struct event_filter_t event_filter);
low_can_subscription_t(const low_can_subscription_t& s) = delete;
low_can_subscription_t(low_can_subscription_t&& s);
low_can_subscription_t& operator=(const low_can_subscription_t& s);
explicit operator bool() const;
int get_index() const;
const std::string get_sig_name() const;
float get_frequency() const;
float get_min() const;
float get_max() const;
utils::socketcan_bcm_t& get_socket();
void set_frequency(float freq);
void set_min(float min);
void set_max(float max);
int create_rx_filter();
int create_rx_filter(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset);
};
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