Program Listing for File hi_can.hpp¶

#pragma once

#include <set>

#include "hi_can_address.hpp"
#include "hi_can_packet.hpp"
#include "hi_can_parameter.hpp"

namespace hi_can
{
    class CanInterface
    {
    public:
        virtual void transmit(const Packet& packet) = 0;
        virtual std::optional<Packet> receive(bool blocking = false) = 0;

        virtual void receive_all(bool block = true);

        virtual void set_receive_callback(const packet_callback_t& callback) { _receive_callback = callback; };
        void clear_receive_callback() { set_receive_callback(nullptr); }

    protected:
        packet_callback_t _receive_callback = nullptr;
    };

    class FilteredCanInterface : public CanInterface
    {
    public:
        virtual FilteredCanInterface& add_filter(const addressing::filter_t& filter);
        virtual FilteredCanInterface& remove_filter(const addressing::filter_t& filter);

        virtual const std::set<addressing::filter_t>& get_filters() const { return _filters; }

        virtual std::optional<addressing::filter_t> find_matching_filter(const addressing::flagged_address_t& address) const;
        virtual bool address_matches_filters(const addressing::flagged_address_t& address) const;

    protected:
        std::set<addressing::filter_t> _filters;
    };

    class SoftwareFilteredCanInterface : public FilteredCanInterface
    {
    public:
        SoftwareFilteredCanInterface(const std::shared_ptr<CanInterface> interface)
            : _interface(interface)
        {
        }

        // note: docs inherited from base class
        void transmit(const Packet& packet) override { _interface->transmit(packet); }
        std::optional<Packet> receive(bool blocking = false) override;

        // note: no need to override set_receive_callback since that's based on the receive method

    private:
        const std::shared_ptr<CanInterface> _interface;
    };
};