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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 <iostream>
#include <memory>
#include <linux/can.h>
#include <linux/can/bcm.h>
#include "../../utils/timer.hpp"
#define CAN_MESSAGE_SIZE 8
#define MAX_BCM_CAN_FRAMES 257
#define MAX_ISOTP_FRAMES 4096
/**
* FLAGS
*/
#define CAN_PROTOCOL 0x0001
#define CAN_PROTOCOL_WITH_FD_FRAME 0x0002
#define J1939_ADDR_CLAIM_PROTOCOL 0x0004
#define J1939_PROTOCOL 0x0008
#define ISOTP_PROTOCOL 0x0010
#define ISOTP_SEND 0x0020
#define ISOTP_RECEIVE 0x0040
#define FRAME_LAYOUT_IS_BIGENDIAN 0x0080
#define BIT_POSITION_REVERSED 0x0100
#define CONTINENTAL_BIT_POSITION 0x0200
#define INVALID_FLAG 0x8000
/// @class 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 message_t {
protected:
uint32_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
uint32_t length_; ///< length_ - the length of the data array. */
uint32_t flags_; ///< format_ - the format mask of the message that control which socketcan will used*/
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:
message_t();
message_t(uint32_t maxdlen, uint32_t length, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
virtual ~message_t() = default;
int get_sub_id() const;
const uint8_t* get_data() const;
const std::vector<uint8_t> get_data_vector() const;
const std::vector<uint8_t> get_data_vector(int start, int end) const;
uint32_t get_length() const;
uint64_t get_timestamp() const;
void set_data(std::vector<uint8_t> data);
void set_sub_id(int sub_id);
void set_timestamp(uint64_t timestamp);
virtual bool is_set() = 0;
virtual std::string get_debug_message() = 0;
virtual uint32_t get_id() const = 0;
virtual void set_id(canid_t id) = 0;
uint32_t get_flags();
void set_flags(uint32_t flags);
void erase_flags();
uint32_t get_maxdlen();
void set_maxdlen(uint32_t maxdlen);
void set_length(uint32_t length);
void frame_swap();
};
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