Program Listing for File socket_can_sender.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_SENDER_HPP_
#define ROS2_SOCKETCAN__SOCKET_CAN_SENDER_HPP_

#include <chrono>
#include <cstdint>
#include <string>

#include "ros2_socketcan/visibility_control.hpp"
#include "ros2_socketcan/socket_can_id.hpp"

namespace drivers
{
namespace socketcan
{

class SOCKETCAN_PUBLIC SocketCanSender
{
public:
  explicit SocketCanSender(
    const std::string & interface = "can0",
    const bool enable_fd = false,
    const CanId & default_id = CanId{});
  ~SocketCanSender() noexcept;

  void send(
    const void * const data,
    const std::size_t length,
    const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const;
  void send(
    const void * const data,
    const std::size_t length,
    const CanId id,
    const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const;
  template<typename T, typename = std::enable_if_t<!std::is_pointer<T>::value>>
  void send(
    const T & data,
    const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const
  {
    send(data, m_default_id, timeout);
  }

  template<typename T, typename = std::enable_if_t<!std::is_pointer<T>::value>>
  void send(
    const T & data,
    const CanId id,
    const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const
  {
    static_assert(sizeof(data) <= MAX_DATA_LENGTH, "Data type too large for CAN");
    //lint -e586 I have to use reinterpret cast because I'm operating on bytes, see below NOLINT
    send_impl(reinterpret_cast<const char *>(&data), sizeof(data), id, timeout);
    // reinterpret_cast to byte, or (unsigned) char is well defined;
    // all pointers can implicitly convert to void *
  }

  void send_fd(
    const void * const data,
    const std::size_t length,
    const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const;
  void send_fd(
    const void * const data,
    const std::size_t length,
    const CanId id,
    const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const;
  template<typename T, typename = std::enable_if_t<!std::is_pointer<T>::value>>
  void send_fd(
    const T & data,
    const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const
  {
    send_fd(data, m_default_id, timeout);
  }

  template<typename T, typename = std::enable_if_t<!std::is_pointer<T>::value>>
  void send_fd(
    const T & data,
    const CanId id,
    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");
    //lint -e586 I have to use reinterpret cast because I'm operating on bytes, see below NOLINT
    send_fd_impl(reinterpret_cast<const char *>(&data), sizeof(data), id, timeout);
    // reinterpret_cast to byte, or (unsigned) char is well defined;
    // all pointers can implicitly convert to void *
  }

  CanId default_id() const noexcept;

private:
  // Underlying implementation of sending, data is assumed to be of an appropriate length
  void send_impl(
    const void * const data,
    const std::size_t length,
    const CanId id,
    const std::chrono::nanoseconds timeout) const;
  // Underlying implementation of FD sending, data is assumed to be of an appropriate length
  void send_fd_impl(
    const void * const data,
    const std::size_t length,
    const CanId id,
    const std::chrono::nanoseconds timeout) const;
  // Wait for file descriptor to be available to send data via select()
  SOCKETCAN_LOCAL void wait(const std::chrono::nanoseconds timeout) const;

  bool m_enable_fd;
  int32_t m_file_descriptor{};
  CanId m_default_id;
};  // class SocketCanSender

}  // namespace socketcan
}  // namespace drivers

#endif  // ROS2_SOCKETCAN__SOCKET_CAN_SENDER_HPP_