1 files changed, 65 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
new file mode 100644
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--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -0,0 +1,65 @@
+/*
+ * 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 <stdint.h>
+#include <linux/can.h>
+#include <string>
+#include <thread>
+
+#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 initialized and use by can_bus_t.
+class can_bus_dev_t
+{
+private:
+	std::string device_name_; ///< a string identifier identitfying the linux CAN device.
+	utils::socket_t can_socket_;
+
+	int32_t address_; ///< 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_ = false; ///< 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, int32_t address);
+
+	std::string get_device_name() const;
+	uint32_t get_address() const;
+
+	int open();
+	int close();
+
+	void start_reading(can_bus_t& can_bus);
+
+	void stop_reading();
+
+	can_message_t read();
+
+	int send(can_message_t& can_msg);
+	bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
+};