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/*
* 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 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::socketcan_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.
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(bool bcm=false);
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);
};
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