arduino/Can.hxx

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// This include is exclusive against freertos_drivers/common/Can.hxx
#ifndef _FREERTOS_DRIVERS_ARDUINO_CAN_HXX_
#define _FREERTOS_DRIVERS_ARDUINO_CAN_HXX_
 
#include "DeviceBuffer.hxx"
#include "can_frame.h"
#include "nmranet_config.h"
#include "os/OS.hxx"
#include "utils/Atomic.hxx"
 
class Can : protected Atomic
{
public:
    static unsigned numReceivedPackets_;
    static unsigned numTransmittedPackets_;
 
    int available()
    {
        return rxBuf->pending();
    }
 
    int availableForWrite()
    {
        return txBuf->space();
    }
 
    int read(struct can_frame *frame)
    {
        AtomicHolder h(this);
        auto ret = rxBuf->get(frame, 1);
        return ret;
    }
 
    int write(const struct can_frame *frame)
    {
        AtomicHolder h(this);
        auto ret = txBuf->put(frame, 1);
        if (ret)
        {
            tx_msg();
        }
        return ret;
    }
 
    virtual void enable() = 0;  
    virtual void disable() = 0; 
protected:
    Can(const char *ignored)
        : txBuf(DeviceBuffer<struct can_frame>::create(
              config_can_tx_buffer_size(), config_can_tx_buffer_size() / 2))
        , rxBuf(DeviceBuffer<struct can_frame>::create(
              config_can_rx_buffer_size()))
        , overrunCount(0)
        , busOffCount(0)
        , softErrorCount(0)
    {
    }
 
    ~Can()
    {
        txBuf->destroy();
        rxBuf->destroy();
    }
 
    virtual void tx_msg() = 0; 
    DeviceBuffer<struct can_frame> *txBuf; 
    DeviceBuffer<struct can_frame> *rxBuf; 
    unsigned int overrunCount;             
    unsigned int busOffCount;              
    unsigned int softErrorCount;           
private:
    DISALLOW_COPY_AND_ASSIGN(Can);
};
 
#endif /* _FREERTOS_DRIVERS_ARDUINO_CAN_HXX_ */