CanBusHico.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __CAN_BUS_HICO_HPP__
#define __CAN_BUS_HICO_HPP__
 
#include <set>
#include <mutex>
#include <string>
#include <utility>
 
#include <yarp/os/Bottle.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/CanBusInterface.h>
 
#include "hico_api.h"
#include "HicoCanMessage.hpp"
 
namespace roboticslab
{
 
class CanBusHico : public yarp::dev::DeviceDriver,
                   public yarp::dev::ICanBus,
                   public yarp::dev::ICanBusErrors,
                   public yarp::dev::ImplementCanBufferFactory<HicoCanMessage, struct can_msg>
{
public:
 
    ~CanBusHico() override
    { close(); }
 
    //  --------- DeviceDriver declarations. Implementation in DeviceDriverImpl.cpp ---------
 
    bool open(yarp::os::Searchable& config) override;
 
    bool close() override;
 
    //  --------- ICanBus declarations. Implementation in ICanBusImpl.cpp ---------
 
    bool canSetBaudRate(unsigned int rate) override;
 
    bool canGetBaudRate(unsigned int * rate) override;
 
    bool canIdAdd(unsigned int id) override;
 
    bool canIdDelete(unsigned int id) override;
 
    bool canRead(yarp::dev::CanBuffer & msgs, unsigned int size, unsigned int * read, bool wait = false) override;
 
    bool canWrite(const yarp::dev::CanBuffer & msgs, unsigned int size, unsigned int * sent, bool wait = false) override;
 
    //  --------- ICanBusErrors declarations. Implementation in ICanBusErrorsImpl.cpp ---------
 
    bool canGetErrors(yarp::dev::CanErrors & err) override;
 
private:
 
    class FilterManager
    {
    public:
        enum filter_config { DISABLED, NO_RANGE, MASK_AND_RANGE };
 
        explicit FilterManager(const CanBusHico & owner, int fileDescriptor, bool enableRanges);
 
        bool parseIds(const yarp::os::Bottle & b);
        bool hasId(unsigned int id) const;
        bool isValid() const;
        bool insertId(unsigned int id);
        bool eraseId(unsigned int id);
        bool clearFilters(bool clearStage = true);
 
        static const int MAX_FILTERS;
 
    private:
        bool setMaskedFilter(unsigned int id);
        bool setRangedFilter(unsigned int lower, unsigned int upper);
        bool bulkUpdate();
 
        const CanBusHico & owner;
        int fd;
        bool valid;
        bool enableRanges;
        std::set<unsigned int> stage, currentlyActive;
    };
 
    FilterManager::filter_config parseFilterConfiguration(const std::string & str);
 
    enum io_operation { READ, WRITE };
 
    bool waitUntilTimeout(io_operation op, bool * bufferReady);
    bool bitrateToId(unsigned int bitrate, unsigned int * id);
    bool idToBitrate(unsigned int id, unsigned int * bitrate);
 
    int fileDescriptor {0};
    int rxTimeoutMs {0}, txTimeoutMs {0};
 
    bool blockingMode;
    bool allowPermissive;
 
    mutable std::mutex canBusReady;
 
    std::pair<bool, unsigned int> bitrateState;
 
    FilterManager * filterManager {nullptr};
 
    FilterManager::filter_config filterConfig;
};
 
} // namespace roboticslab
 
#endif // __CAN_BUS_HICO_HPP__