.. _program_listing_file__tmp_ws_src_ros2_socketcan_ros2_socketcan_include_ros2_socketcan_socket_can_sender.hpp:

Program Listing for File socket_can_sender.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_socketcan_ros2_socketcan_include_ros2_socketcan_socket_can_sender.hpp>` (``/tmp/ws/src/ros2_socketcan/ros2_socketcan/include/ros2_socketcan/socket_can_sender.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_SENDER_HPP_
   #define ROS2_SOCKETCAN__SOCKET_CAN_SENDER_HPP_
   
   #include <chrono>
   #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_