SocketCANDevice.h

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/*
 * Copyright 2016 Intelligent Industrial Robotics (IIROB) Group, 
 *                Institute for Anthropomatics and Robotics (IAR) - 
 *                Intelligent Process Control and Robotics (IPR), 
 *                Karlsruhe Institute of Technology (KIT)
 * Copyright (c) 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 SocketCANDevice_INCLUDEDEF_H
#define SocketCANDevice_INCLUDEDEF_H
//-----------------------------------------------

#include <sys/types.h>
#include <sys/stat.h>
#include <sys/socket.h>
#include <sys/ioctl.h>

#include <fcntl.h>
#include <cerrno>
#include <cstring>

#include <linux/can.h>
#include <linux/can/bcm.h>
#include <linux/can/raw.h>

#include <net/if.h>
#include <string.h>

#ifndef PF_CAN
#define PF_CAN 29
#endif

#ifndef AF_CAN
#define AF_CAN PF_CAN
#endif


//-----------------------------------------------

#include <iostream>
#include <cstdio>
#include <libpcan/libpcan.h>
#include "ProtocolDevice.h"

//-----------------------------------------------

class SocketCANDevice: public CProtocolDevice {

private:

        // ---- private data ---------------------------------------------------- ;

        // ---- private auxiliary functions ------------------------------------- ;

protected:
        // ---- protected data ---------------------------------------------------- ;
        bool m_bInitialized;
        int m_iDeviceId;
        int m_iNoOfRetries;
        unsigned short m_uiQueueSize;
        unsigned long m_uiTimeOut;
        char * m_DeviceName;


        // ---- protected auxiliary functions ------------------------------------- ;
        int getDeviceError(int iErrorState);
        int setBaudRate();
        int setBaudRate(unsigned char iBaudRate);
        int setMessageId(unsigned long uiMessageId);
        int clearReadQueue();
        int reinit(unsigned char ucBaudRateId);
        int readDevice(CProtocolMessage& rclProtocolMessage);
        int writeDevice(CProtocolMessage& rclProtocolMessage);

public:

        // ---- public data ----------------------------------------------------- ;

        // ---- constructors / destructor --------------------------------------- ;

        // default constructor
        SocketCANDevice();
        SocketCANDevice(const SocketCANDevice& rclSocketCANDevice);
        ~SocketCANDevice();
        
        // ---- operators ------------------------------------------------------- ;
        // assignment operator
        SocketCANDevice& operator=(const SocketCANDevice& rclSocketCANDevice);
        
        // ---- query functions ------------------------------------------------- ;
        
        // ---- modify functions ------------------------------------------------ ;

        void setQueueSize(unsigned short uiQueueSize);
        void setTimeOut(unsigned long uiTimeOut);

        // ---- I/O functions --------------------------------------------------- ;

        // ---- exec functions -------------------------------------------------- ;

        int init();
        int init(unsigned long baudRate);
        int init(const char* acInitString);
        int exit();
        int waitForStartMotionAll();


};
#endif