Program Listing for File socket_can_sender.hpp
↰ Return to documentation for file (/tmp/ws/src/ros2_socketcan/ros2_socketcan/include/ros2_socketcan/socket_can_sender.hpp
)
// 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_