Program Listing for File can_node.hpp

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#ifndef MYACTUATOR_RMD__DRIVER__CAN_NODE
#define MYACTUATOR_RMD__DRIVER__CAN_NODE
#pragma once

#include <array>
#include <cstdint>
#include <string>
#include <vector>

#include "myactuator_rmd/can/frame.hpp"
#include "myactuator_rmd/can/node.hpp"
#include "myactuator_rmd/driver/driver.hpp"
#include "myactuator_rmd/protocol/message.hpp"
#include "myactuator_rmd/exceptions.hpp"


namespace myactuator_rmd {

  template <std::uint32_t SEND_ID_OFFSET, std::uint32_t RECEIVE_ID_OFFSET>
  class CanNode: public Driver, protected can::Node {
    protected:
      CanNode(std::string const& ifname);
      CanNode() = delete;
      CanNode(CanNode const&) = delete;
      CanNode& operator = (CanNode const&) = default;
      CanNode(CanNode&&) = default;
      CanNode& operator = (CanNode&&) = default;

      void addId(std::uint32_t const actuator_id) override;

      inline void send(Message const& msg, std::uint32_t const actuator_id) override;

      [[nodiscard]]
      inline std::array<std::uint8_t,8> sendRecv(Message const& request, std::uint32_t const actuator_id) override;

    protected:
      [[nodiscard]]
      constexpr std::uint32_t getCanSendId(std::uint32_t const actuator_id) noexcept;

      [[nodiscard]]
      constexpr std::uint32_t getCanReceiveId(std::uint32_t const actuator_id) noexcept;

      std::vector<std::uint32_t> actuator_ids_;
  };

  template <std::uint32_t SEND_ID_OFFSET, std::uint32_t RECEIVE_ID_OFFSET>
  CanNode<SEND_ID_OFFSET,RECEIVE_ID_OFFSET>::CanNode(std::string const& ifname)
  : can::Node{ifname}, Driver{} {
    return;
  }

  template <std::uint32_t SEND_ID_OFFSET, std::uint32_t RECEIVE_ID_OFFSET>
  void CanNode<SEND_ID_OFFSET,RECEIVE_ID_OFFSET>::addId(std::uint32_t const actuator_id) {
    if ((actuator_id < 1) || (actuator_id > 32)) {
      throw Exception("Given actuator id '" + std::to_string(actuator_id) + "' out of admittable range [1, 32]!");
    }
    actuator_ids_.push_back(actuator_id);
    std::vector<std::uint32_t> can_receive_ids {};
    for (auto const& id: actuator_ids_){
      can_receive_ids.emplace_back(getCanReceiveId(id));
    }
    setRecvFilter(can_receive_ids);
    return;
  }

  template <std::uint32_t SEND_ID_OFFSET, std::uint32_t RECEIVE_ID_OFFSET>
  void CanNode<SEND_ID_OFFSET,RECEIVE_ID_OFFSET>::send(Message const& msg, std::uint32_t const actuator_id) {
    auto const can_send_id {getCanSendId(actuator_id)};
    write(can_send_id, msg.getData());
    return;
  }

  template <std::uint32_t SEND_ID_OFFSET, std::uint32_t RECEIVE_ID_OFFSET>
  std::array<std::uint8_t,8> CanNode<SEND_ID_OFFSET,RECEIVE_ID_OFFSET>::sendRecv(Message const& request, std::uint32_t const actuator_id) {
    auto const can_send_id {getCanSendId(actuator_id)};
    write(can_send_id, request.getData());
    can::Frame const frame {can::Node::read()};
    return frame.getData();
  }

  template <std::uint32_t SEND_ID_OFFSET, std::uint32_t RECEIVE_ID_OFFSET>
  constexpr std::uint32_t CanNode<SEND_ID_OFFSET,RECEIVE_ID_OFFSET>::getCanSendId(std::uint32_t const actuator_id) noexcept {
    return SEND_ID_OFFSET + actuator_id;
  }

  template <std::uint32_t SEND_ID_OFFSET, std::uint32_t RECEIVE_ID_OFFSET>
  constexpr std::uint32_t CanNode<SEND_ID_OFFSET,RECEIVE_ID_OFFSET>::getCanReceiveId(std::uint32_t const actuator_id) noexcept {
    return RECEIVE_ID_OFFSET + actuator_id;
  }

}

#endif // MYACTUATOR_RMD__DRIVER__CAN_NODE