interface.h
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00001 #ifndef H_CAN_INTERFACE
00002 #define H_CAN_INTERFACE
00003 
00004 #include <boost/array.hpp>
00005 #include <boost/system/error_code.hpp>
00006 #include <boost/shared_ptr.hpp>
00007 
00008 #include "FastDelegate.h"
00009 
00010 namespace can{
00011 
00013 struct Header{
00014     static const unsigned int ID_MASK = (1u << 29)-1;
00015     static const unsigned int ERROR_MASK = (1u << 29);
00016     static const unsigned int RTR_MASK = (1u << 30);
00017     static const unsigned int EXTENDED_MASK = (1u << 31);
00018     
00019     unsigned int id:29; 
00020     unsigned int is_error:1; 
00021     unsigned int is_rtr:1; 
00022     unsigned int is_extended:1; 
00023 
00024     bool isValid() const{
00025         return id < (is_extended?(1<<29):(1<<11));
00026     }
00033     operator const unsigned int() const { return is_error ? (ERROR_MASK) : *(unsigned int*) this; }
00034 
00035     Header()
00036     : id(0),is_error(0),is_rtr(0), is_extended(0) {}
00037     
00038     Header(unsigned int i, bool extended, bool rtr, bool error)
00039     : id(i),is_error(error?1:0),is_rtr(rtr?1:0), is_extended(extended?1:0) {}
00040 };
00041 
00042 
00043 struct MsgHeader : public Header{
00044     MsgHeader(unsigned int i=0, bool rtr = false) : Header(i, false, rtr, false) {}
00045 };
00046 struct ExtendedHeader : public Header{
00047     ExtendedHeader(unsigned int i=0, bool rtr = false) : Header(i, true, rtr, false) {}
00048 };
00049 struct ErrorHeader : public Header{
00050     ErrorHeader(unsigned int i=0) : Header(i, false, false, true) {}
00051 };
00052 
00053     
00054     
00056 struct Frame: public Header{
00057     boost::array<unsigned char, 8> data; 
00058     unsigned char dlc; 
00059     
00061     bool isValid() const{
00062         return (dlc <= 8)  &&  Header::isValid();
00063     }
00071     Frame() : Header(), dlc(0) {}
00072     Frame(const Header &h, unsigned char l = 0) : Header(h), dlc(l) {}
00073 };
00074 
00076 class State{
00077 public:
00078     enum DriverState{
00079         closed, open, ready
00080     } driver_state;
00081     boost::system::error_code error_code; 
00082     unsigned int internal_error; 
00083     
00084     State() : driver_state(closed), internal_error(0) {}
00085     virtual bool isReady() const { return driver_state == ready; }
00086     virtual ~State() {}
00087 };
00088 
00090 template <typename T,typename U> class Listener{
00091     const T callable_;
00092 public:
00093     typedef U Type;
00094     typedef T Callable;
00095     typedef boost::shared_ptr<const Listener> Ptr;
00096     
00097     Listener(const T &callable):callable_(callable){ }
00098     void operator()(const U & u) const { if(callable_) callable_(u); }
00099     virtual ~Listener() {} 
00100 };
00101 
00102 class StateInterface{
00103 public:
00104     typedef fastdelegate::FastDelegate1<const State&> StateDelegate;
00105     typedef Listener<const StateDelegate, const State&> StateListener;
00106 
00113     virtual StateListener::Ptr createStateListener(const StateDelegate &delegate) = 0;
00114 
00115     virtual ~StateInterface() {}
00116 };
00117 
00118 class CommInterface{
00119 public:
00120     typedef fastdelegate::FastDelegate1<const Frame&> FrameDelegate;
00121     typedef Listener<const FrameDelegate, const Frame&> FrameListener;
00122 
00129     virtual bool send(const Frame & msg) = 0;
00130     
00137     virtual FrameListener::Ptr createMsgListener(const FrameDelegate &delegate) = 0;
00138     
00146     virtual FrameListener::Ptr createMsgListener(const Frame::Header&, const FrameDelegate &delegate) = 0;
00147     
00148     virtual ~CommInterface() {}
00149 };
00150 
00151 class DriverInterface : public CommInterface, public StateInterface {
00152 public:
00160     virtual bool init(const std::string &device, bool loopback) = 0;
00161     
00167     virtual bool recover() = 0;
00168 
00172     virtual State getState() = 0;
00173 
00179     virtual void shutdown() = 0;
00180     
00181     virtual bool translateError(unsigned int internal_error, std::string & str) = 0;
00182     
00183     virtual bool doesLoopBack() const = 0;
00184     
00185     virtual void run()  = 0;
00186     
00187     virtual ~DriverInterface() {}
00188 };
00189 
00190 
00191 } // namespace can
00192 
00193 #include <boost/thread/mutex.hpp>
00194 
00195 struct _cout_wrapper{
00196     static boost::mutex& get_cout_mutex(){
00197         static boost::mutex mutex;
00198         return mutex;
00199     }
00200 };
00201 
00202 #define LOG(log) { boost::mutex::scoped_lock _cout_lock(_cout_wrapper::get_cout_mutex()); std::cout << log << std::endl; }
00203 
00204 
00205 #endif


socketcan_interface
Author(s): Mathias L├╝dtke
autogenerated on Sun Sep 3 2017 03:10:38