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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 "socketcan.hpp"
#include "../can/can-message.hpp"
#define MAX_BCM_CAN_FRAMES 257
namespace utils
{
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];
};
};
/// @brief derivated socketcan class specialized for BCM CAN socket.make_bcm_head
class socketcan_bcm_t : public socketcan_t
{
public:
using socketcan_t::socketcan_t;
virtual int open(std::string device_name);
virtual std::shared_ptr<can_message_t> read_message();
virtual void write_message(std::vector<std::shared_ptr<can_message_t>>& vobj);
virtual void write_message(std::shared_ptr<can_message_t> obj);
void write_message(struct bcm_msg& obj);
private:
int connect(const struct sockaddr* addr, socklen_t len);
};
}
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