interface.h

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#ifndef H_CAN_INTERFACE
#define H_CAN_INTERFACE

#include <boost/array.hpp>
#include <boost/system/error_code.hpp>
#include <boost/shared_ptr.hpp>

#include "FastDelegate.h"

namespace can{

struct Header{
    static const unsigned int ID_MASK = (1u << 29)-1;
    static const unsigned int ERROR_MASK = (1u << 29);
    static const unsigned int RTR_MASK = (1u << 30);
    static const unsigned int EXTENDED_MASK = (1u << 31);
    
    unsigned int id:29; 
    unsigned int is_error:1; 
    unsigned int is_rtr:1; 
    unsigned int is_extended:1; 

    bool isValid(){
        return id < (is_extended?(1<<29):(1<<11));
    }
    operator const unsigned int() const { return is_error ? (ERROR_MASK) : *(unsigned int*) this; }

    Header()
    : id(0),is_error(0),is_rtr(0), is_extended(0) {}
    
    Header(unsigned int i, bool extended, bool rtr, bool error)
    : id(i),is_error(error?1:0),is_rtr(rtr?1:0), is_extended(extended?1:0) {}
};


struct MsgHeader : public Header{
    MsgHeader(unsigned int i=0, bool rtr = false) : Header(i, false, rtr, false) {}
};
struct ExtendedHeader : public Header{
    ExtendedHeader(unsigned int i=0, bool rtr = false) : Header(i, true, rtr, false) {}
};
struct ErrorHeader : public Header{
    ErrorHeader(unsigned int i=0) : Header(i, false, false, true) {}
};

    
    
struct Frame: public Header{
    boost::array<unsigned char, 8> data; 
    unsigned char dlc; 
    
    bool isValid(){
        return (dlc <= 8)  &&  Header::isValid();
    }
    Frame() : Header(), dlc(0) {}
    Frame(const Header &h, unsigned char l = 0) : Header(h), dlc(l) {}
};

class State{
public:
    enum DriverState{
        closed, open, ready
    } driver_state;
    boost::system::error_code error_code; 
    unsigned int internal_error; 
    
    State() : driver_state(closed), internal_error(0) {}
    virtual bool isReady() const { return driver_state == ready; }
    virtual ~State() {}
};

template <typename T,typename U> class Listener{
    const T callable_;
public:
    typedef U Type;
    typedef T Callable;
    typedef boost::shared_ptr<const Listener> Ptr;
    
    Listener(const T &callable):callable_(callable){ }
    void operator()(const U & u) const { if(callable_) callable_(u); }
    virtual ~Listener() {} 
};

class StateInterface{
public:
    typedef fastdelegate::FastDelegate1<const State&> StateDelegate;
    typedef Listener<const StateDelegate, const State&> StateListener;

    virtual StateListener::Ptr createStateListener(const StateDelegate &delegate) = 0;

    virtual ~StateInterface() {}
};

class CommInterface{
public:
    typedef fastdelegate::FastDelegate1<const Frame&> FrameDelegate;
    typedef Listener<const FrameDelegate, const Frame&> FrameListener;

    virtual bool send(const Frame & msg) = 0;
    
    virtual FrameListener::Ptr createMsgListener(const FrameDelegate &delegate) = 0;
    
    virtual FrameListener::Ptr createMsgListener(const Frame::Header&, const FrameDelegate &delegate) = 0;
    
    virtual ~CommInterface() {}
};

class DriverInterface : public CommInterface, public StateInterface {
public:
    virtual bool init(const std::string &device, bool loopback) = 0;
    
    virtual bool recover() = 0;

    virtual State getState() = 0;

    virtual void shutdown() = 0;
    
    virtual bool translateError(unsigned int internal_error, std::string & str) = 0;
    
    virtual bool doesLoopBack() const = 0;
    
    virtual void run()  = 0;
    
    virtual ~DriverInterface() {}
};


} // namespace can

#include <boost/thread/mutex.hpp>

struct _cout_wrapper{
    static boost::mutex& get_cout_mutex(){
        static boost::mutex mutex;
        return mutex;
    }
};

#define LOG(log) { boost::mutex::scoped_lock _cout_lock(_cout_wrapper::get_cout_mutex()); std::cout << log << std::endl; }


#endif