can.hpp

#pragma once
 
#include "libxr.hpp"
#include "message.hpp"
 
namespace LibXR
{
 
class CAN
{
 public:
  enum class Type : uint8_t
  {
    STANDARD = 0,         
    EXTENDED = 1,         
    REMOTE_STANDARD = 2,  
    REMOTE_EXTENDED = 3   
  };
 
  CAN(const char *name_tp = "can", Topic::Domain *domain = nullptr)
      : classic_tp_(name_tp, sizeof(ClassicPack), domain, false, true)
  {
  }
 
  typedef struct __attribute__((packed))
  {
    uint32_t id;      
    Type type;        
    uint8_t data[8];  
  } ClassicPack;
 
  Topic classic_tp_;  
 
  virtual ErrorCode AddMessage(const ClassicPack &pack) = 0;
};
 
class FDCAN : public CAN
{
 public:
  FDCAN(const char *name_tp = "can", const char *name_fd_tp = "fdcan",
        Topic::Domain *domain = nullptr)
      : CAN(name_tp, domain), fd_tp_(name_fd_tp, sizeof(FDPack), domain, false, false)
  {
  }
 
  typedef struct __attribute__((packed))
  {
    uint32_t id;       
    Type type;         
    uint8_t len;       
    uint8_t data[64];  
  } FDPack;
 
  using CAN::AddMessage;
 
  virtual ErrorCode AddMessage(const FDPack &pack) = 0;
 
  Topic fd_tp_;  
};
 
}  // namespace LibXR