CanBusSocket.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __CAN_BUS_SOCKET_HPP__
#define __CAN_BUS_SOCKET_HPP__
 
#include <linux/can.h>
#include <linux/can/raw.h>
 
#include <string>
#include <vector>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/CanBusInterface.h>
 
#include "SocketCanMessage.hpp"
 
namespace roboticslab
{
 
class CanBusSocket : public yarp::dev::DeviceDriver,
                     public yarp::dev::ICanBus,
                     public yarp::dev::ImplementCanBufferFactory<SocketCanMessage, struct can_frame>
{
public:
    ~CanBusSocket() 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;
 
private:
    enum io_operation { READ, WRITE };
 
    bool waitUntilTimeout(io_operation op, bool * bufferReady);
    void interpretErrorFrame(const struct can_frame * msg);
 
    std::string iface;
    bool blockingMode;
    bool allowPermissive;
    bool filterFunctionCodes;
    unsigned int bitrate {0};
    int rxTimeoutMs {0};
    int txTimeoutMs {0};
    int s {0};
    std::vector<struct can_filter> filters;
};
 
} // namespace roboticslab
 
#endif // __CAN_BUS_SOCKET_HPP__