.. _program_listing_file__tmp_ws_src_ros2_socketcan_ros2_socketcan_include_ros2_socketcan_socket_can_receiver.hpp:

Program Listing for File socket_can_receiver.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_socketcan_ros2_socketcan_include_ros2_socketcan_socket_can_receiver.hpp>` (``/tmp/ws/src/ros2_socketcan/ros2_socketcan/include/ros2_socketcan/socket_can_receiver.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 the Autoware Foundation
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   //
   // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
   #ifndef ROS2_SOCKETCAN__SOCKET_CAN_RECEIVER_HPP_
   #define ROS2_SOCKETCAN__SOCKET_CAN_RECEIVER_HPP_
   
   #include <linux/can.h>
   #include <array>
   #include <chrono>
   #include <cstring>
   #include <string>
   #include <vector>
   
   #include "ros2_socketcan/visibility_control.hpp"
   #include "ros2_socketcan/socket_can_id.hpp"
   
   namespace drivers
   {
   namespace socketcan
   {
   
   class SOCKETCAN_PUBLIC SocketCanReceiver
   {
   public:
     explicit SocketCanReceiver(const std::string & interface = "can0", const bool enable_fd = false);
     ~SocketCanReceiver() noexcept;
   
     struct CanFilterList
     {
       std::vector<struct can_filter> filters;
       can_err_mask_t error_mask = 0;
       bool join_filters = false;
   
       CanFilterList() = default;
   
   
       explicit CanFilterList(const char * str);
   
   
       explicit CanFilterList(const std::string & str);
   
       static CanFilterList ParseFilters(const std::string & str);
     };
   
     void SetCanFilters(const CanFilterList & filters);
   
     CanId receive(
       void * const data,
       const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const;
     template<typename T, typename = std::enable_if_t<!std::is_pointer<T>::value>>
     CanId receive(
       T & data,
       const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const
     {
       static_assert(sizeof(data) <= MAX_DATA_LENGTH, "Data type too large for CAN");
       std::array<uint8_t, MAX_DATA_LENGTH> data_raw{};
       const auto ret = receive(&data_raw[0U], timeout);
       if (ret.length() != sizeof(data)) {
         throw std::runtime_error{"Received CAN data is of size incompatible with provided type!"};
       }
       (void)std::memcpy(&data, &data_raw[0U], ret.length());
       return ret;
     }
   
     CanId receive_fd(
       void * const data,
       const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const;
     template<typename T, typename = std::enable_if_t<!std::is_pointer<T>::value>>
     CanId receive_fd(
       T & data,
       const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const
     {
       static_assert(sizeof(data) <= MAX_FD_DATA_LENGTH, "Data type too large for CAN FD");
       std::array<uint8_t, MAX_FD_DATA_LENGTH> data_raw{};
       const auto ret = receive_fd(&data_raw[0U], timeout);
       if (ret.length() != sizeof(data)) {
         throw std::runtime_error{"Received CAN FD data is of size incompatible with provided type!"};
       }
       (void)std::memcpy(&data, &data_raw[0U], ret.length());
       return ret;
     }
   
   private:
     // Wait for file descriptor to be available to send data via select()
     SOCKETCAN_LOCAL void wait(const std::chrono::nanoseconds timeout) const;
   
     int32_t m_file_descriptor;
     bool m_enable_fd;
   };  // class SocketCanReceiver
   
   }  // namespace socketcan
   }  // namespace drivers
   
   #endif  // ROS2_SOCKETCAN__SOCKET_CAN_RECEIVER_HPP_