CanItf.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * 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.
 */


#ifndef CANITF_INCLUDEDEF_H
#define CANITF_INCLUDEDEF_H
//-----------------------------------------------
#include <cob_generic_can/CanMsg.h>
//-----------------------------------------------

// for types and baudrates see: https://github.com/ipa320/cob_robots/blob/hydro_dev/cob_hardware_config/raw3-5/config/base/CanCtrl.ini
#define CANITFTYPE_CAN_PEAK     0
#define CANITFTYPE_CAN_PEAK_USB 1
#define CANITFTYPE_CAN_ESD      2
#define CANITFTYPE_CAN_DUMMY    3
#define CANITFTYPE_CAN_BECKHOFF 4
#define CANITFTYPE_SOCKET_CAN 5

#define CANITFBAUD_1M   0x0
#define CANITFBAUD_500K 0x2
#define CANITFBAUD_250K 0x4
#define CANITFBAUD_125K 0x6
#define CANITFBAUD_50K  0x9
#define CANITFBAUD_20K  0xB
#define CANITFBAUD_10K  0xD

class CanItf
{
public:
        enum CanItfType {
                CAN_PEAK = 0,
                CAN_PEAK_USB = 1,
                CAN_ESD = 2,
                CAN_DUMMY = 3,
                CAN_BECKHOFF = 4,
                CAN_SOCKETCAN = 5
        };

        virtual ~CanItf() {
        }

        virtual bool init_ret() = 0;

        virtual void init() = 0;

        virtual bool transmitMsg(CanMsg CMsg, bool bBlocking = true) = 0;

        virtual bool receiveMsg(CanMsg* pCMsg) = 0;

        virtual bool receiveMsgRetry(CanMsg* pCMsg, int iNrOfRetry) = 0;

        virtual bool receiveMsgTimeout(CanMsg* pCMsg, int nMicroSecTimeout) = 0;

        virtual bool isObjectMode() = 0;

        void setCanItfType(CanItfType iType) { m_iCanItfType = iType; }

        CanItfType getCanItfType() { return m_iCanItfType; }

private:
        CanItfType m_iCanItfType;
};
//-----------------------------------------------

#endif