43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
#ifndef __CANBUS_HPP
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#define __CANBUS_HPP
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#include "can_helpers.hpp"
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#include <variant>
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struct MsgIdFilterSpecs {
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std::variant<uint16_t, uint32_t> id;
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uint32_t mask;
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};
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class CanBusBase {
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public:
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typedef void(*on_can_message_cb_t)(void* ctx, const can_Message_t& message);
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struct CanSubscription {};
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/**
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* @brief Sends the specified CAN message.
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*
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* @returns: true on success or false otherwise (e.g. if the send queue is
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* full).
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*/
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virtual bool send_message(const can_Message_t& message) = 0;
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/**
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* @brief Registers a callback that will be invoked for every incoming CAN
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* message that matches the filter.
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*
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* @param handle: On success this handle is set to an opaque pointer that
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* can be used to cancel the subscription.
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*
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* @returns: true on success or false otherwise (e.g. if the maximum number
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* of subscriptions has been reached).
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*/
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virtual bool subscribe(const MsgIdFilterSpecs& filter, on_can_message_cb_t callback, void* ctx, CanSubscription** handle) = 0;
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/**
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* @brief Deregisters a callback that was previously registered with subscribe().
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*/
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virtual bool unsubscribe(CanSubscription* handle) = 0;
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};
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#endif // __CANBUS_HPP
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