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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.
*/
#pragma once
#include <vector>
#include <string>
#include <cstdint>
#include <linux/can.h>
#include "../utils/timer.hpp"
#define CAN_MESSAGE_SIZE 8
/**
* @enum can_message_format_t
* @brief The ID format for a CAN message.
*/
enum class can_message_format_t {
STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
INVALID, /*!< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
};
/**
* @class can_message_t
*
* @brief A compact representation of a single CAN message, meant to be used in in/out
* buffers.
*/
class can_message_t {
private:
uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
uint32_t id_; /*!< id_ - The ID of the message. */
uint8_t length_; /*!< length_ - the length of the data array (max 8). */
can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
uint64_t timestamp_; /*!< timestamp_ - timestamp of the received message*/
int sub_id_; /*!< sub_id_ - Subscription index. */
public:
can_message_t();
can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
uint32_t get_id() const;
int get_sub_id() const;
bool get_rtr_flag_() const;
can_message_format_t get_format() const;
uint8_t get_flags() const;
const uint8_t* get_data() const;
const std::vector<uint8_t> get_data_vector() const;
uint8_t get_length() const;
uint64_t get_timestamp() const;
void set_sub_id(int sub_id);
void set_timestamp(uint64_t timestamp);
void set_format(const can_message_format_t new_format);
bool is_correct_to_send();
static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp);
struct canfd_frame convert_to_canfd_frame();
struct can_frame convert_to_can_frame();
};
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