CANDriverInterface.h

Go to the documentation of this file.

/*
 * Copyright (C) 2012 MetraLabs GmbH (MLAB), GERMANY.
 * All rights reserved.
 * Contact: info@MetraLabs.com
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MetraLabs.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file.  Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MetraLabs (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT,
 * SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE
 * OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLABS" HAS BEEN
 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN
 * "AS IS" BASIS, AND "MLAB" HAS NO OBLIGATION TO PROVIDE MAINTENANCE,
 * SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MLAB_CANDRIVERINTERFACE_H_
#define _MLAB_CANDRIVERINTERFACE_H_

#include <can/CANInterface.h>

namespace mira { namespace can {


class MLAB_CAN_EXPORT CANDriverInterface : public CANInterface
{
public:

    CANDriverInterface(const std::string& driver);

    virtual ~CANDriverInterface();


public:

    void open(const std::string& deviceName,
              CANBaudRate baudRate = CAN_BAUDRATE_250K);

    void close();

    uint8 getBusLoad() const;


public:

    CANDriverPtr getDriver() const
    {
        return mDriver;
    }


public:

    virtual void sendMessage(const CANMessage& pMsg);


private:

    void processIncomingMessages();
    void processOutgoingMessages();

private:
    bool mIsOpen;

    // outgoing messages
    boost::mutex mOutgoingMutex;
    boost::condition_variable mOutgoingCondition;
    std::queue<CANMessage> mOutgoingQueue;

    // Two separate thread for handling incoming and outgoing messages
    boost::thread mIncomingThread;
    boost::thread mOutgoingThread;

    // time of the last load measurement
    Time mLastLoadTime;
    size_t mBitCount;
    uint8 mBusLoad;

    // The used driver
    CANDriverPtr mDriver;
};

typedef boost::shared_ptr<CANDriverInterface> CANDriverInterfacePtr;


}} // namespaces

#endif