candataframe.h

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/*
* Copyright 2025 Ingemar Hedvall
* SPDX-License-Identifier: MIT
*/

#pragma once
 
 #include <bitset>
#include <cstdint>
 
#include "bus/ibusmessage.h"
 
namespace bus {
enum class CanErrorType : uint8_t {
  UNKNOWN_ERROR = 0, 
  BIT_ERROR = 1,     
  FORM_ERROR = 2,    
  BIT_STUFFING_ERROR = 3, 
  CRC_ERROR = 4, 
  ACK_ERROR = 5 
};

class CanDataFrame : public IBusMessage  {
 public:
    CanDataFrame(); 
    explicit CanDataFrame(CanErrorType type) = delete;

    explicit CanDataFrame(const std::shared_ptr<IBusMessage>& message);

  void MessageId(uint32_t msg_id);

  [[nodiscard]] uint32_t MessageId() const;

  void CanId(uint32_t can_id);

  [[nodiscard]] uint32_t CanId() const;

  void ExtendedId(bool extended );

  [[nodiscard]] bool ExtendedId() const; 

  void Dlc(uint8_t dlc) { dlc_ = dlc;};

  [[nodiscard]] uint8_t Dlc() const { return dlc_;};

  void Crc(uint32_t crc) { crc_ = crc;};

  [[nodiscard]] uint32_t Crc() const { return crc_;};

  void DataLength(uint8_t data_length);
  [[nodiscard]] uint8_t DataLength() const; 

  void DataBytes(const std::vector<uint8_t>& data);

  [[nodiscard]] const std::vector<uint8_t>& DataBytes() const;

  void Dir(bool transmit );
  [[nodiscard]] bool Dir() const;
 
  void Srr(bool srr ); 
  [[nodiscard]] bool Srr() const; 
 
  void Edl(bool edl ); 
  [[nodiscard]] bool Edl() const; 
 
  void Brs(bool brs ); 
  [[nodiscard]] bool Brs() const; 
 
  void Esi(bool esi ); 
  [[nodiscard]] bool Esi() const; 
 
  void Rtr(bool rtr ); 
  [[nodiscard]] bool Rtr() const; 
 
  void WakeUp(bool wake_up ); 
  [[nodiscard]] bool WakeUp() const; 
 
  void SingleWire(bool single_wire ); 
  [[nodiscard]] bool SingleWire() const; 
 
  void R0(bool flag); 
  [[nodiscard]] bool R0() const; 
 
  void R1(bool flag); 
  [[nodiscard]] bool R1() const; 
/*
  void BitPosition(uint16_t position); ///< Error bit position (error frame).
  [[nodiscard]] uint16_t BitPosition() const; ///< Error bit position.
 
  void ErrorType(CanErrorType error_type); ///< Type of error.
  [[nodiscard]] CanErrorType ErrorType() const; ///< Type of error.
*/
  void FrameDuration(uint32_t duration); 
  [[nodiscard]] uint32_t FrameDuration() const; 
 
  static size_t DlcToLength(uint8_t dlc); 

  void ToRaw(std::vector<uint8_t>& dest) const override;

  void FromRaw(const std::vector<uint8_t>& source) override;
 private:
  uint32_t message_id_ = 0; 
  uint8_t  dlc_ = 0; 
  std::bitset<16> flags_;   
  std::vector<uint8_t> data_bytes_; 
  uint16_t bit_position_ = 0; 
  CanErrorType error_type_ = CanErrorType::UNKNOWN_ERROR; 
  uint32_t frame_duration_ = 0;
  uint32_t crc_ = 0;
};
 
}  // namespace mdf