openarm_ros2/openarm_hardware/include/openarm_hardware/canbus.hpp

#pragma once

#include <cstdint>
#include <iostream>
#include <cstring>
#include <unistd.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <array>
#include <fcntl.h>
#include <string>

enum CANMode {
  CAN_MODE_CLASSIC = 0,
  CAN_MODE_FD = 1
};
class CANBus {
public:
    explicit CANBus(const std::string& interface, int mode);
    ~CANBus();
    int whichCAN();
    bool send(uint16_t motor_id, const std::array<uint8_t, 8>& data);
    std::array<uint8_t, 64> recv(uint16_t& out_id, uint8_t& out_len);

private:
    bool sendClassic(uint16_t motor_id, const std::array<uint8_t, 8>& data);
    bool sendFD(uint16_t motor_id, const std::array<uint8_t, 8>& data);

    struct can_frame recvClassic();
    struct canfd_frame recvFD();

    int sock_;
    int mode_;
};