ardupilot/libraries/AP_HAL_ChibiOS/CANSerialRouter.h

/*
 * 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/>.
 *
 * Siddharth Bharat Purohit
 */

#pragma once

#include "AP_HAL_ChibiOS.h"

#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
#include "CAN.h"
#include <AP_UAVCAN/AP_UAVCAN_SLCAN.h>

#include "CANThread.h"
#include "CANClock.h"
#include "CANIface.h"
#define SLCAN_ROUTER_QUEUE_SIZE 64

struct CanRouteItem {
    uint64_t utc_usec;
    uavcan::CanFrame frame;
    CanRouteItem() :
        utc_usec(0)
    {
    }
};

class SLCANRouter {
    ChibiOS_CAN::CanIface* _can_if;
    SLCAN::CAN _slcan_if;
    ObjectBuffer<CanRouteItem> _can_tx_queue;
    ObjectBuffer<CanRouteItem> _slcan_tx_queue;
    ChibiOS_CAN::BusEvent* _update_event;
    uint32_t _last_active_time = 0;
    uint32_t _slcan_rt_timeout = 0;
    bool _thread_started = false;
    bool _thread_suspended = false;
    HAL_Semaphore router_sem;
    thread_reference_t _s2c_thd_ref;
    thread_reference_t _c2s_thd_ref;
    void timer(void);
    AP_HAL::UARTDriver* _port;

public:
    SLCANRouter() : _slcan_if(SLCAN_DRIVER_INDEX, SLCAN_RX_QUEUE_SIZE), _can_tx_queue(SLCAN_ROUTER_QUEUE_SIZE), _slcan_tx_queue(SLCAN_ROUTER_QUEUE_SIZE)
    {}
    void init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event);
    void route_frame_to_slcan(ChibiOS_CAN::CanIface* can_if, const uavcan::CanFrame& frame, uint64_t timestamp_usec);
    void route_frame_to_can(const uavcan::CanFrame& frame, uint64_t timestamp_usec);
    void slcan2can_router_trampoline(void);
    void can2slcan_router_trampoline(void);
    void run(void);

};

#endif