.. _program_listing_file__tmp_ws_src_dataspeed_can_dataspeed_can_usb_include_dataspeed_can_usb_CanUsb.hpp:

Program Listing for File CanUsb.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_dataspeed_can_dataspeed_can_usb_include_dataspeed_can_usb_CanUsb.hpp>` (``/tmp/ws/src/dataspeed_can/dataspeed_can_usb/include/dataspeed_can_usb/CanUsb.hpp``)

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

.. code-block:: cpp

   /*********************************************************************
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2015-2021, Dataspeed Inc.
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
    *   * Neither the name of Dataspeed Inc. nor the names of its
    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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    *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    *********************************************************************/
   
   #pragma once
   
   #include <stdint.h>
   #include <vector>
   #include <functional>
   #include <dataspeed_can_usb/MacAddr.hpp>
   
   namespace lusb {
   class UsbDevice;
   }
   
   class TxQueue;
   
   namespace dataspeed_can_usb {
   
   class CanUsb {
   public:
     static const int USB_DEFAULT_TIMEOUT = 10;
     static const unsigned int MAX_CHANNELS = 4;
     static const unsigned int MAX_FILTERS = 32;
   
     CanUsb(lusb::UsbDevice *dev = NULL);
     ~CanUsb();
   
     std::string version() const;
     uint16_t versionMajor() const { return version_major_; }
     uint16_t versionMinor() const { return version_minor_; }
     uint16_t versionBuild() const { return version_build_; }
     uint16_t versionComms() const { return version_comms_; }
     uint32_t serialNumber() const { return serial_number_; }
     MacAddr macAddr() const { return mac_addr_; }
     unsigned int numChannels() const { return num_channels_; }
   
     bool open(const std::string &mac = std::string());
     bool isOpen();
     void closeDevice();
   
     bool reboot();
     bool reset();
     bool setBitrate(unsigned int channel, uint32_t bitrate, uint8_t mode = 0);
     bool addFilter(unsigned int channel, uint32_t mask, uint32_t match);
     bool getStats(std::vector<uint32_t> &rx_drops, std::vector<uint32_t> &tx_drops,
                   std::vector<uint8_t> &rx_errors, std::vector<uint8_t> &tx_errors,
                   bool clear = false);
     bool getTimeStamp(uint32_t &timestamp);
   
     void sendMessage(unsigned int channel, uint32_t id, bool extended, uint8_t dlc, const uint8_t data[8], bool flush = true);
     void flushMessages();
   
     typedef std::function<void(unsigned int channel, uint32_t id, bool extended, uint8_t dlc, const uint8_t data[8])> Callback;
     void setRecvCallback(const Callback &callback) {
       recv_callback_ = callback;
     }
   
   private:
     bool readVersion();
     bool getNumChannels();
     bool configure(const std::string &mac = std::string());
   
     void recvStream(const void *data, int size);
   
     bool writeConfig(const void *data, int size);
     int readConfig(void *data, int size);
     bool writeConfig(const void *data, int size, int timeout);
     int readConfig(void *data, int size, int timeout);
   
     bool writeStream(const void *data, int size);
     int readStream(void *data, int size);
   
     bool ready_ = false;
     bool heap_dev_ = false;
     lusb::UsbDevice *dev_;
     Callback recv_callback_ = nullptr;
     uint16_t version_major_ = 0;
     uint16_t version_minor_ = 0;
     uint16_t version_build_ = 0;
     uint16_t version_comms_ = 0;
     uint32_t serial_number_ = 0;
     MacAddr mac_addr_;
     unsigned int num_channels_ = 0;
   
     TxQueue *queue_;
   };
   
   }  // namespace dataspeed_can_usb