blob: 3e6b2d1ca8e2b58b69a5bbad8029c901c9559236 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
|
/*
* 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_raw();
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);
};
|
