sensors/canbus/docs/usecase2.md

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# Copyright (c) 2019-2020, NVIDIA CORPORATION.  All rights reserved.

@page canbus_usecase2 Reading CAN Messages from Raw Data (Binary)

@note SW Release Applicability: This tutorial is applicable to modules in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.

The `dwSensorCAN_processRawData()` and `dwSensorCAN_popMessage()` functions
can be used to parse raw can bus data and read the messages in the
`dwCANMessage` format.

For details on the CAN sensor module workflow, see @ref canbus_usecase1.

#### Example

The following code shows the general structure of a program reading raw
data from the can bus, serializing it and parsing it.

```{.cpp}
dwSensorHandle_t canSensor;
dwSAL_createSensor(&canSensor, ..., ...);

dwSensor_start(canSensor);

const uint8_t *data = nullptr;
size_t size         = 0;

while(loop)
{
    dwStatus status = DW_NOT_READY;

    while (status == DW_NOT_READY)
    {
        dwSensor_readRawData(&data, &size, 1000000, canSensor);

        status = dwSensorCAN_processRawData(data, size, canSensor);

        dwSensorSerializer_serializeDataAsync(data, size, ...);

        dwSensor_returnRawData(data, canSensor);
    }

    dwCANMessage message{};
    dwSensorCAN_popMessage(&frame, canSensor);

    ...
}

dwSensor_stop(canSensor);
dwSAL_releaseSensor(&canSensor);
```

For more details see @ref dwx_record_sample