Class TwaiInterface¶

• Defined in File hi_can_twai.hpp

Inheritance Relationships¶

Base Type¶

• public hi_can::FilteredCanInterface (Class FilteredCanInterface)

Class Documentation¶

class TwaiInterface : public hi_can::FilteredCanInterface¶

Inheritance diagram for hi_can::TwaiInterface:

Collaboration diagram for hi_can::TwaiInterface:

Public Functions¶

virtual ~TwaiInterface()¶

TwaiInterface(const TwaiInterface&) = delete¶

inline TwaiInterface(TwaiInterface &&other) noexcept¶

TwaiInterface &operator=(const TwaiInterface&) = delete¶

inline TwaiInterface &operator=(TwaiInterface &&other) noexcept¶

virtual void transmit(const Packet &packet) override¶

Transmits a packet on the CAN bus.

Parameters:¶

const Packet &packet¶

Packet to transmit

virtual std::optional<Packet> receive(bool blocking = false) override¶

Pulls the next packet from the CAN bus buffer.

Parameters:¶

bool blocking = false¶

Whether to block until a packet is received

Returns:¶

The next packet in the buffer, or std::nullopt if the buffer is empty

void handle()¶

Handle error detection and recovery on the underlying TWAI bus.

This function must be called regularly to ensure that the bus recovers and has errors handled correctly.

virtual TwaiInterface &add_filter(const addressing::filter_t &address) override¶

Add a filter to the interface.

Returns:¶

Itself for chaining

virtual TwaiInterface &remove_filter(const addressing::filter_t &address) override¶

Remove a filter from the interface.

Returns:¶

Itself for chaining

Public Static Functions¶

static TwaiInterface &get_instance(bsp::pin_pair_t pins = std::make_pair(bsp::CAN_TX_PIN, bsp::CAN_RX_PIN), uint8_t controller_id = 0, addressing::filter_t filter = {})¶

Friends¶

inline friend void swap(TwaiInterface &first, TwaiInterface &second) noexcept¶