Program Listing for File socket_can_receiver.hpp

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// 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 <cstdint>
#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_