*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
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+#ifndef __CANBUS_HPP
+#define __CANBUS_HPP
+
+#include "can_helpers.hpp"
+#include <variant>
+
+struct MsgIdFilterSpecs {
+    std::variant<uint16_t, uint32_t> id;
+    uint32_t mask;
+};
+
+class CanBusBase {
+public:
+    typedef void(*on_can_message_cb_t)(void* ctx, const can_Message_t& message);
+    struct CanSubscription {};
+
+    /**
+     * @brief Sends the specified CAN message.
+     * 
+     * @returns: true on success or false otherwise (e.g. if the send queue is
+     * full).
+     */
+    virtual bool send_message(const can_Message_t& message) = 0;
+
+    /**
+     * @brief Registers a callback that will be invoked for every incoming CAN
+     * message that matches the filter.
+     * 
+     * @param handle: On success this handle is set to an opaque pointer that
+     *        can be used to cancel the subscription.
+     * 
+     * @returns: true on success or false otherwise (e.g. if the maximum number
+     * of subscriptions has been reached).
+     */
+    virtual bool subscribe(const MsgIdFilterSpecs& filter, on_can_message_cb_t callback, void* ctx, CanSubscription** handle) = 0;
+
+    /**
+     * @brief Deregisters a callback that was previously registered with subscribe().
+     */
+    virtual bool unsubscribe(CanSubscription* handle) = 0;
+};
+
+#endif // __CANBUS_HPP