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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Peter van der Perk
b1ad4e8864
Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
69 lines
2.5 KiB
C++
69 lines
2.5 KiB
C++
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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#pragma once
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#include <canard.h>
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/// One frame stored in the transmission queue along with its metadata.
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struct CanardRxFrame {
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CanardMicrosecond timestamp_usec;
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/// The actual CAN frame data.
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CanardFrame frame;
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};
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class CanardInterface
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{
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public:
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CanardInterface() = default;
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virtual ~CanardInterface() = default;
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virtual int init() { return 0; };
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virtual int close() { return 0; };
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/// Send a CanardFrame
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/// This function is blocking
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/// The return value is number of bytes transferred, negative value on error.
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virtual int16_t transmit(const CanardTxQueueItem &txframe, int timeout_ms = 0) = 0;
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/// Receive a CanardFrame
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/// This function is blocking
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/// The return value is number of bytes received, negative value on error.
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virtual int16_t receive(CanardRxFrame *rxf) = 0;
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private:
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};
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