CanardSocketCAN.hpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include <sys/time.h>
#include <sys/socket.h>
#include <nuttx/can.h>
#include <netpacket/can.h>
#include <canard.h>
#include "CanardInterface.hpp"
class CanardSocketCAN : public CanardInterface
{
public:
CanardSocketCAN() = default;
~CanardSocketCAN() override = default;
/// Creates a SocketCAN socket for corresponding iface can_iface_name
/// Also sets up the message structures required for socketcanTransmit & socketcanReceive
/// can_fd determines to use CAN FD frame when is 1, and classical CAN frame when is 0
/// The return value is 0 on succes and -1 on error
int init();
/// Send a CanardFrame to the CanardSocketInstance socket
/// This function is blocking
/// The return value is number of bytes transferred, negative value on error.
int16_t transmit(const CanardFrame &txframe, int timeout_ms = 0);
/// Receive a CanardFrame from the CanardSocketInstance socket
/// This function is blocking
/// The return value is number of bytes received, negative value on error.
int16_t receive(CanardFrame *rxf);
// TODO implement ioctl for CAN filter
//int16_t socketcanConfigureFilter(const fd_t fd, const size_t num_filters, const struct can_filter *filters);
private:
int _fd{-1};
bool _can_fd{false};
//// Send msg structure
struct iovec _send_iov {};
struct canfd_frame _send_frame {};
struct msghdr _send_msg {};
struct cmsghdr *_send_cmsg {};
struct timeval *_send_tv {}; /* TX deadline timestamp */
uint8_t _send_control[sizeof(struct cmsghdr) + sizeof(struct timeval)] {};
//// Receive msg structure
struct iovec _recv_iov {};
struct canfd_frame _recv_frame {};
struct msghdr _recv_msg {};
struct cmsghdr *_recv_cmsg {};
uint8_t _recv_control[sizeof(struct cmsghdr) + sizeof(struct timeval)] {};
};