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
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
|
/*
* 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
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];
};
};
/**
* @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. */
J1939, ///< J1939 - Format for j1939 messages
INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
};
/// @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:
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.*/
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(uint8_t length, can_message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
int get_sub_id() 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);
can_message_format_t get_msg_format();
virtual bool is_set() = 0;
virtual std::string get_debug_message() = 0;
virtual uint32_t get_id() const = 0;
virtual struct bcm_msg get_bcm_msg() = 0;
virtual void set_bcm_msg(struct bcm_msg bcm_msg) = 0;
};
|
