ardupilot/libraries/AP_UAVCAN/AP_UAVCAN_IfaceMgr.h

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Author: Siddharth Bharat Purohit
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <uavcan/uavcan.hpp>
namespace uavcan
{
class CanDriver;
class CanIface : public ICanIface, Noncopyable
{
friend class CanIfaceMgr;
AP_HAL::CANIface* can_iface_;
public:
CanIface(AP_HAL::CANIface *can_iface) : can_iface_(can_iface) {}
virtual int16_t send(const CanFrame& frame, MonotonicTime tx_deadline,
CanIOFlags flags) override;
virtual int16_t receive(CanFrame& out_frame, MonotonicTime& out_ts_monotonic,
UtcTime& out_ts_utc, CanIOFlags& out_flags) override;
int16_t configureFilters(const CanFilterConfig* filter_configs,
uint16_t num_configs) override;
uint16_t getNumFilters() const override;
uint64_t getErrorCount() const override;
};
/**
* Generic CAN driver.
*/
class CanIfaceMgr : public ICanDriver, Noncopyable
{
CanIface* ifaces[HAL_NUM_CAN_IFACES];
uint8_t num_ifaces;
HAL_EventHandle _event_handle;
public:
bool add_interface(AP_HAL::CANIface *can_drv);
ICanIface* getIface(uint8_t iface_index) override;
uint8_t getNumIfaces() const override;
CanSelectMasks makeSelectMasks(const CanSelectMasks in_mask, const CanFrame* (& pending_tx)[MaxCanIfaces]) const;
int16_t select(CanSelectMasks& inout_masks,
const CanFrame* (& pending_tx)[MaxCanIfaces],
const MonotonicTime blocking_deadline) override;
};
}
#endif