CANInterface.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_CANINTERFACE_H_
#define _MLAB_CANINTERFACE_H_

#include <queue>
#include <vector>

#ifndef Q_MOC_RUN
#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>
#endif

#include <platform/Types.h>
#include <utils/Time.h>

#include <can/CANDefs.h>
#include <can/CANDriver.h>

namespace mira { namespace can {


// Forward declaration
class CANOpenPDOListener;


typedef boost::function<void (const CANMessage&, const Time&)> CANMessageCallback;

typedef boost::function<void (const CANMessage&, const Time&)> PDOCallback;


class MLAB_CAN_EXPORT CANInterface
{
public:

    CANInterface();

    virtual ~CANInterface() {};


public:

    virtual void sendMessage(const CANMessage& msg) = 0;

    uint32 addMessageSentListener(CANMessageCallback pFunc,
                                  uint32 pMask = 0x00000000,
                                  uint32 pFilter = 0xFFFFFFFF);

    void removeMessageSentListener(uint32 pFuncID);


public:

    uint32 addMessageRecvListener(CANMessageCallback pFunc,
                                  uint32 pMask = 0x00000000,
                                  uint32 pFilter = 0xFFFFFFFF);

    void removeMessageRecvListener(uint32 pFuncID);


public:

    uint32 addPDOListener(PDOCallback pFunc, uint32 pPDO);

    void removePDOListener(uint32 pFuncID);


protected:
    void onMessageSend(const CANMessage& message, const Time& time);
    void onMessageReceived(const CANMessage& message, const Time& time);

private:

    struct MsgListener {
        uint32             id;
        CANMessageCallback func;
        uint32             mask;
        uint32             filter;
    };

    struct PDOListener {
        uint32      id;
        uint32      pdo;
        PDOCallback func;

    };

private:

    // outgoing message listeners
    boost::mutex mOutgoingListenersMutex;
    uint32 mOutgoingListenersNextID;
    std::vector<MsgListener> mOutgoingListeners;

    // incoming message listeners
    boost::mutex mIncomingListenersMutex;
    uint32 mIncomingListenersNextID;
    std::vector<MsgListener> mIncomingListeners;

    // PDO callbacks
    boost::mutex mPDOCallbacksMutex;
    uint32 mPDOCallbacksNextID;
    std::vector<PDOListener> mPDOCallbacks;

    // A CANopen PDO listener
    CANOpenPDOListener* mPDOListener;
};


typedef boost::shared_ptr<CANInterface> CANInterfacePtr;


}} // namespaces

#endif