can_message.hpp

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//================================================================================================
//================================================================================================
 
#ifndef CAN_MESSAGE_HPP
#define CAN_MESSAGE_HPP
 
#include "isobus/isobus/can_control_function.hpp"
#include "isobus/isobus/can_general_parameter_group_numbers.hpp"
#include "isobus/isobus/can_identifier.hpp"
#include "isobus/utility/data_span.hpp"
 
#include <vector>
 
namespace isobus
{
    using CANDataSpan = DataSpan<const std::uint8_t>;
 
    //================================================================================================
    //================================================================================================
    class CANMessage
    {
    public:
        enum class Type
        {
            Transmit, 
            Receive, 
        };
 
        enum class ByteFormat
        {
            LittleEndian,
            BigEndian
        };
 
        static const std::uint32_t ABSOLUTE_MAX_MESSAGE_LENGTH = 117440505;
 
        CANMessage(Type type,
                   CANIdentifier identifier,
                   const std::uint8_t *dataBuffer,
                   std::uint32_t length,
                   std::shared_ptr<ControlFunction> source,
                   std::shared_ptr<ControlFunction> destination,
                   std::uint8_t CANPort);
 
        CANMessage(Type type,
                   CANIdentifier identifier,
                   std::vector<std::uint8_t> data,
                   std::shared_ptr<ControlFunction> source,
                   std::shared_ptr<ControlFunction> destination,
                   std::uint8_t CANPort);
 
        static CANMessage create_invalid_message();
 
        Type get_type() const;
 
        const std::vector<std::uint8_t> &get_data() const;
 
        std::uint32_t get_data_length() const;
 
        std::shared_ptr<ControlFunction> get_source_control_function() const;
 
        bool has_valid_source_control_function() const;
 
        std::shared_ptr<ControlFunction> get_destination_control_function() const;
 
        bool has_valid_destination_control_function() const;
 
        bool is_broadcast() const;
 
        bool is_destination_our_device() const;
 
        bool is_destination(std::shared_ptr<ControlFunction> controlFunction) const;
 
        bool is_source(std::shared_ptr<ControlFunction> controlFunction) const;
 
        CANIdentifier get_identifier() const;
 
        bool is_parameter_group_number(CANLibParameterGroupNumber parameterGroupNumber) const;
 
        std::uint8_t get_can_port_index() const;
 
        void set_data(const std::uint8_t *dataBuffer, std::uint32_t length);
 
        void set_data(std::uint8_t dataByte, const std::uint32_t insertPosition);
 
        void set_data_size(std::uint32_t length);
 
        void set_identifier(const CANIdentifier &value);
 
        std::uint8_t get_uint8_at(const std::uint32_t index) const;
 
        std::int8_t get_int8_at(const std::uint32_t index) const;
 
        std::uint16_t get_uint16_at(const std::uint32_t index, const ByteFormat format = ByteFormat::LittleEndian) const;
 
        std::int16_t get_int16_at(const std::uint32_t index, const ByteFormat format = ByteFormat::LittleEndian) const;
 
        std::uint32_t get_uint24_at(const std::uint32_t index, const ByteFormat format = ByteFormat::LittleEndian) const;
 
        std::int32_t get_int24_at(const std::uint32_t index, const ByteFormat format = ByteFormat::LittleEndian) const;
 
        std::uint32_t get_uint32_at(const std::uint32_t index, const ByteFormat format = ByteFormat::LittleEndian) const;
 
        std::int32_t get_int32_at(const std::uint32_t index, const ByteFormat format = ByteFormat::LittleEndian) const;
 
        std::uint64_t get_uint64_at(const std::uint32_t index, const ByteFormat format = ByteFormat::LittleEndian) const;
 
        std::int64_t get_int64_at(const std::uint32_t index, const ByteFormat format = ByteFormat::LittleEndian) const;
 
        bool get_bool_at(const std::uint32_t byteIndex, const std::uint8_t bitIndex, const std::uint8_t length = 1) const;
 
        std::uint64_t get_data_custom_length(const std::uint32_t startBitIndex, const std::uint32_t length, const ByteFormat format = ByteFormat::LittleEndian) const;
 
    private:
        Type messageType; 
        CANIdentifier identifier; 
        std::vector<std::uint8_t> data; 
        std::shared_ptr<ControlFunction> source; 
        std::shared_ptr<ControlFunction> destination; 
        std::uint8_t CANPortIndex; 
    };
 
} // namespace isobus
 
#endif // CAN_MESSAGE_HPP