.. _program_listing_file__tmp_ws_src_ros2_socketcan_ros2_socketcan_include_ros2_socketcan_socket_can_id.hpp:

Program Listing for File socket_can_id.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_socketcan_ros2_socketcan_include_ros2_socketcan_socket_can_id.hpp>` (``/tmp/ws/src/ros2_socketcan/ros2_socketcan/include/ros2_socketcan/socket_can_id.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 the Autoware Foundation
   //
   // 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.
   //
   // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
   #ifndef ROS2_SOCKETCAN__SOCKET_CAN_ID_HPP_
   #define ROS2_SOCKETCAN__SOCKET_CAN_ID_HPP_
   
   #include <stdexcept>
   
   #include "ros2_socketcan/visibility_control.hpp"
   
   namespace drivers
   {
   namespace socketcan
   {
   
   constexpr std::size_t MAX_DATA_LENGTH = 8U;
   constexpr std::size_t MAX_FD_DATA_LENGTH = 64U;
   class SOCKETCAN_PUBLIC SocketCanTimeout : public std::runtime_error
   {
   public:
     explicit SocketCanTimeout(const char * const what)
     : runtime_error{what} {}
   };  // class SocketCanTimeout
   
   enum class FrameType : uint32_t
   {
     DATA,
     ERROR,
     REMOTE
     // SocketCan doesn't support Overload frame directly?
   };  // enum class FrameType
   
   struct StandardFrame_ {};
   //lint -e{1502} NOLINT It's a tag
   constexpr StandardFrame_ StandardFrame;
   struct ExtendedFrame_ {};
   //lint -e{1502} NOLINT It's a tag
   constexpr ExtendedFrame_ ExtendedFrame;
   
   class SOCKETCAN_PUBLIC CanId
   {
   public:
     using IdT = uint32_t;
     using LengthT = uint32_t;
     // Default constructor: standard data frame with id 0
     CanId() = default;
     explicit CanId(const IdT raw_id, const uint64_t bus_time, const LengthT data_length = 0U);
     CanId(const IdT id, const uint64_t bus_time, FrameType type, StandardFrame_);
     CanId(const IdT id, const uint64_t bus_time, FrameType type, ExtendedFrame_);
   
     CanId & standard() noexcept;
     CanId & extended() noexcept;
     CanId & error_frame() noexcept;
     CanId & remote_frame() noexcept;
     CanId & data_frame() noexcept;
     CanId & frame_type(const FrameType type);
     CanId & identifier(const IdT id);
   
     IdT identifier() const noexcept;
     IdT get() const noexcept;
     bool is_extended() const noexcept;
     FrameType frame_type() const;
     LengthT length() const noexcept;
   
     uint64_t get_bus_time() {return bus_time;}
   
   private:
     SOCKETCAN_LOCAL CanId(const IdT id, const uint64_t bus_time, FrameType type, bool is_extended);
   
     IdT m_id{};
     LengthT m_data_length{};
     uint64_t bus_time;
   };  // class CanId
   }  // namespace socketcan
   }  // namespace drivers
   
   #endif  // ROS2_SOCKETCAN__SOCKET_CAN_ID_HPP_