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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 "./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,
bool rtr_flag_,
uint32_t flags,
std::vector<uint8_t>& data,
uint64_t timestamp);
uint32_t get_id() const;
void set_id(const canid_t id);
bool is_correct_to_send();
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 bcm_msg& get_bcm_msg();
void set_bcm_msg(struct bcm_msg bcm_msg);
struct can_frame convert_to_can_frame();
bool is_set();
std::string get_debug_message();
};
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