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b1ad4e8864
Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
104 lines
3.7 KiB
C++
104 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <sys/time.h>
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#include <sys/socket.h>
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#include <nuttx/can.h>
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#include <netpacket/can.h>
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#include <canard.h>
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#include "CanardInterface.hpp"
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class CanardSocketCAN : public CanardInterface
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{
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public:
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CanardSocketCAN() = default;
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~CanardSocketCAN() override = default;
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/// Creates a SocketCAN socket for corresponding iface can_iface_name
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/// Also sets up the message structures required for socketcanTransmit & socketcanReceive
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/// can_fd determines to use CAN FD frame when is 1, and classical CAN frame when is 0
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/// The return value is 0 on succes and -1 on error
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int init();
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/// Close socket connection
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int close()
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{
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return ::close(_fd);
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}
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/// Send a CanardFrame to the CanardSocketInstance socket
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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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int16_t transmit(const CanardTxQueueItem &txframe, int timeout_ms = 0);
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/// Receive a CanardFrame from the CanardSocketInstance socket
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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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int16_t receive(CanardRxFrame *rxf);
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// TODO implement ioctl for CAN filter
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//int16_t socketcanConfigureFilter(const fd_t fd, const size_t num_filters, const struct can_filter *filters);
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private:
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int _fd{-1};
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bool _can_fd{false};
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//// Send msg structure
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struct iovec _send_iov {};
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struct canfd_frame _send_frame {};
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struct msghdr _send_msg {};
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struct cmsghdr *_send_cmsg {};
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struct timeval *_send_tv {}; /* TX deadline timestamp */
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uint8_t _send_control[sizeof(struct cmsghdr) + sizeof(struct timeval)] {};
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//// Receive msg structure
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struct iovec _recv_iov {};
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struct canfd_frame _recv_frame {};
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struct msghdr _recv_msg {};
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struct cmsghdr *_recv_cmsg {};
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uint8_t _recv_control[sizeof(struct cmsghdr) + sizeof(struct timeval)] {};
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};
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