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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 <string>
#include <thread>
#include <linux/can.h>
#include "../utils/socket.hpp"
class can_bus_t;
class can_message_t;
/// @brief Object representing a can device. Handle opening, closing and reading on the
/// socket. This is the low level object to be use by can_bus_t.
class can_bus_dev_t
{
private:
std::string device_name_;
utils::socket_t can_socket_;
int32_t id_; /// < an identifier used through binding that refer to that device
bool is_fdmode_on_; /// < boolean telling if whether or not the can socket use fdmode.
struct sockaddr_can txAddress_; /// < internal member using to bind to the socket
std::thread th_reading_; /// < Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
bool is_running_; /// < boolean telling whether or not reading is running or not
void can_reader(can_bus_t& can_bus);
public:
can_bus_dev_t(const std::string& dev_name);
int open();
int close();
void start_reading(can_bus_t& can_bus);
void stop_reading();
std::pair<struct canfd_frame&, size_t> read();
int send_can_message(can_message_t& can_msg);
static bool send_can_message(const uint16_t arbitration_id, const uint8_t* data, const uint8_t size);
};
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