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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 <utility>
#include <mutex>
#include <queue>
#include <thread>
#include <linux/can.h>
#include <condition_variable>
#include "openxc.pb.h"
#include "can-message.hpp"
#include "../utils/config-parser.hpp"
#include "../binding/low-can-hat.hpp"
#include "../binding/low-can-subscription.hpp"
/// @brief A container for a CAN module paried with a certain bus.
///
/// There are three things that control the operating mode of the CAN controller:
///
/// - Should arbitrary CAN message writes be allowed? See rawWritable.
/// - Should translated, simple vehicle message writes be allowed? See the
/// 'writable' field in signals defined for this bus.
///
class can_bus_t
{
private:
int index;
std::string name;
std::string device_name;
float max_message_frequency; //<! maxMessageFrequency - the default maximum frequency for all CAN messages when
/// using the raw passthrough mode. To put no limit on the frequency, set
/// this to 0.
bool raw_writable; //<! rawWritable - True if this CAN bus connection should allow raw CAN messages
/// writes. This is independent from the CanSignal 'writable' option, which
/// can be set to still allow translated writes back to this bus.
bool passthrough_can_messages; //<! passthroughCanMessages - True if low-level CAN messages should be send to the
/// output interface, not just signals as simple vehicle messages.
public:
int get_index() const;
const std::string get_bus_name() const;
const std::string get_bus_device_name() const;
const float max_message_frequency() const;
bool get_raw_writable() const;
bool get_passthrough_can_messages() const;
};
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