summaryrefslogtreecommitdiffstats
path: root/low-can-binding/can/message/can-message.hpp
blob: 75e65c673ff6df2f8de6b19f0e4331146fff3b55 (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
/*
 * 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 "./message.hpp"

struct bcm_msg
{
	struct bcm_msg_head msg_head;
	union {
		struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
		struct can_frame frames[MAX_BCM_CAN_FRAMES];
	};
};

/// @class can_message_t
///
/// @brief A compact representation of a single CAN message, meant to be used in in/out
/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
class can_message_t : public message_t {
	private:
		uint32_t id_; ///< id_ - The ID of the message. */
		bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
		struct bcm_msg bcm_msg_;

	public:
		can_message_t();
		can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, message_format_t format, bool rtr_flag_, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp);

		uint32_t get_id() const;

		static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
		struct canfd_frame convert_to_canfd_frame();
		struct std::vector<canfd_frame> convert_to_canfd_frame_vector();
		struct can_frame convert_to_can_frame();

		bool is_correct_to_send();
		bool is_set();
		struct bcm_msg& get_bcm_msg();
		void set_bcm_msg(struct bcm_msg bcm_msg);

		std::string get_debug_message();

};