mirror of https://github.com/ArduPilot/ardupilot
29 lines
601 B
C++
29 lines
601 B
C++
/*
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parent class for CAN transports in ArduPilot SITL
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*/
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#pragma once
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#include "AP_HAL_SITL.h"
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#if HAL_NUM_CAN_IFACES
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#include <AP_HAL/CANIface.h>
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class CAN_Transport {
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public:
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virtual ~CAN_Transport() {}
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virtual bool init(uint8_t instance) = 0;
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virtual bool send(const AP_HAL::CANFrame &frame) = 0;
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virtual bool receive(AP_HAL::CANFrame &frame) = 0;
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virtual int get_read_fd(void) const = 0;
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void set_event_handle(AP_HAL::BinarySemaphore *handle) {
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sem_handle = handle;
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}
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protected:
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AP_HAL::BinarySemaphore *sem_handle;
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};
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#endif // HAL_NUM_CAN_IFACES
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