Program Listing for File CanUsb.hpp

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#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