ardupilot/libraries/AP_CANManager/AP_CANSensor.h

77 lines
2.3 KiB
C++

/*
This program 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 program 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/>.
*/
/*
CANSensor class, for easy creation of CAN sensors using custom CAN protocols
*/
#pragma once
#include "AP_CANManager.h"
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
class CANSensor : public AP_CANDriver {
public:
CANSensor(const char *driver_name, uint16_t stack_size=2048);
/* Do not allow copies */
CANSensor(const CANSensor &other) = delete;
CANSensor &operator=(const CANSensor&) = delete;
void init(uint8_t driver_index, bool enable_filters) override;
bool add_interface(AP_HAL::CANIface* can_iface) override;
// handler for incoming frames
virtual void handle_frame(AP_HAL::CANFrame &frame) = 0;
// handler for outgoing frames
bool write_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us);
#ifdef HAL_BUILD_AP_PERIPH
static void set_periph(const uint8_t i, const AP_CANManager::Driver_Type protocol, AP_HAL::CANIface* iface) {
if (i < HAL_NUM_CAN_IFACES) {
_periph[i].protocol = protocol;
_periph[i].iface = iface;
}
}
#endif
protected:
void register_driver(AP_CANManager::Driver_Type dtype);
private:
void loop();
const char *const _driver_name;
const uint16_t _stack_size;
bool _initialized;
uint8_t _driver_index;
AP_CANDriver *_can_driver;
HAL_EventHandle _event_handle;
AP_HAL::CANIface* _can_iface;
#ifdef HAL_BUILD_AP_PERIPH
void register_driver_periph(const AP_CANManager::Driver_Type dtype);
struct CANSensor_Periph {
AP_HAL::CANIface* iface;
AP_CANManager::Driver_Type protocol;
} static _periph[HAL_NUM_CAN_IFACES];
#endif
};
#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS