andrey
8fc2be8dd9
- CMake: disable thread/socket-dependent modules (http_client, mqtt_client, client_server) and fftw when the required feature flags are off; client_server/cloud no longer tied to the crypt option - host utils gated on filesystem and the modules they need - Pico keeps the minimal set; generic FreeRTOS (ESP32) keeps filesystem, sockets and serial as in master, module set limited to crypt/compress/io_utils - PICAN, PIBroadcast, PIPackedTCP vanish without socket+threads - PISerial: restore PISERIAL_NO_PINS (auto-enabled on PIP_EMBEDDED) - PIFile: FREERTOS uses fopen/stat (no fopen64 in ESP-IDF newlib) - drop invalid PICout buffer guards, guard PIObject::deleteLater, remove (void)destroying hack, fake PIHIDevice non-Linux stub and the redundant PICO_SDK guard in code_model_generator
88 lines
3.3 KiB
C++
88 lines
3.3 KiB
C++
//! \~\file pican.h
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//! \~\ingroup IO
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//! \~\brief
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//! \~english CAN bus device wrapper
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//! \~russian Обертка над устройством шины CAN
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/*
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PIP - Platform Independent Primitives
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CAN
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Andrey Bychkov work.a.b@yandex.ru
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef PICAN_H
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#define PICAN_H
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#include "piiodevice.h"
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// CAN raw sockets (PF_CAN) exist only on Linux
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#if defined(LINUX) && defined(PIP_HAS_SOCKET)
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# define PIP_CAN
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#endif
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#ifdef PIP_CAN
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//! \~\ingroup IO
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//! \~\brief
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//! \~english CAN device based on interface name and frame identifier.
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//! \~russian CAN-устройство, настраиваемое именем интерфейса и идентификатором кадра.
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class PIP_EXPORT PICAN: public PIIODevice {
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PIIODEVICE(PICAN, "can");
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public:
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//! \~english Constructs a CAN device for interface "path".
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//! \~russian Создает CAN-устройство для интерфейса "path".
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explicit PICAN(const PIString & path = PIString(), PIIODevice::DeviceMode mode = PIIODevice::ReadWrite);
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//! \~english Destroys the CAN device.
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//! \~russian Уничтожает CAN-устройство.
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virtual ~PICAN();
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//! \~english Sets CAN frame identifier for subsequent \a write() calls.
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//! \~russian Устанавливает идентификатор CAN-кадра для последующих вызовов \a write().
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void setCANID(int id);
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//! \~english Returns CAN frame identifier used by \a write().
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//! \~russian Возвращает идентификатор CAN-кадра, используемый методом \a write().
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int CANID() const;
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//! \~english Returns identifier of the last frame received by \a read().
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//! \~russian Возвращает идентификатор последнего кадра, полученного методом \a read().
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int readedCANID() const;
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//! \~english Interrupts a blocking CAN wait operation.
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//! \~russian Прерывает блокирующее ожидание CAN-кадра.
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void interrupt() override;
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protected:
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bool openDevice() override;
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bool closeDevice() override;
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ssize_t readDevice(void * read_to, ssize_t max_size) override;
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ssize_t writeDevice(const void * data, ssize_t max_size) override;
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PIString constructFullPathDevice() const override;
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void configureFromFullPathDevice(const PIString & full_path) override;
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PIPropertyStorage constructVariantDevice() const override;
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void configureFromVariantDevice(const PIPropertyStorage & d) override;
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DeviceInfoFlags deviceInfoFlags() const override { return PIIODevice::Reliable; }
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private:
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PRIVATE_DECLARATION(PIP_EXPORT)
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int sock = -1;
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int can_id, readed_id;
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};
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#endif // PIP_CAN
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#endif // PICAN_H
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