can_msg_tx.h

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/**
 * @file    can_msg_tx.h
 *
 * CAN message transmission
 *
 * @date Mar 13, 2020
 * @author Matthew Kennedy, (c) 2012-2020
 */
 
#pragma once
 
#include <cstdint>
#include <cstddef>
 
#include "can_category.h"
#include "can.h"
 
/**
 * Represent a message to be transmitted over CAN.
 *
 * Usage:
 *   * Create an instance of CanTxMessage
 *   * Set any data you'd like to transmit either using the subscript operator to directly access bytes, or any of the helper functions.
 *   * Upon destruction, the message is transmitted.
 */
class CanTxMessage
{
public:
    /**
     * Create a new CAN message, with the specified extended ID.
     */
    explicit CanTxMessage(CanCategory category, uint32_t eid, uint8_t dlc = 8, size_t bus = 0, bool isExtended = false);
 
    /**
     * Destruction of an instance of CanTxMessage will transmit the message over the wire.
     */
    ~CanTxMessage();
 
    CanCategory category;
 
#if EFI_CAN_SUPPORT
    /**
     * Configures the device for all messages to transmit from.
     */
    static void setDevice(CANDriver* device1, CANDriver* device2);
#endif // EFI_CAN_SUPPORT
 
    size_t busIndex = 0;
 
    /**
     * @brief Read & write the raw underlying 8-byte buffer.
     */
    uint8_t& operator[](size_t);
 
    /**
     * @brief Write a 16-bit short value to the buffer. Note: this writes in little endian byte order.
     */
    void setShortValue(uint16_t value, size_t offset);
 
    /**
     Same as above but big endian
     * for instance DBC 8|16@0
     */
    void setShortValueMsb(uint16_t value, size_t offset);
 
    /**
     * @brief Set a single bit in the transmit buffer.  Useful for single-bit flags.
     */
    void setBit(size_t byteIdx, size_t bitIdx);
 
    void setDlc(uint8_t dlc);
 
    void setBus(size_t bus);
 
#if HAS_CAN_FRAME
    const CANTxFrame *getFrame() const {
        return &m_frame;
    }
 
void setArray(uint8_t *data, size_t len) {
    for (size_t i = 0; i < len; i++) {
        m_frame.data8[i] = data[i];
    }
}
 
#endif // HAL_USE_CAN || EFI_UNIT_TEST
 
protected:
#if HAS_CAN_FRAME
    CANTxFrame m_frame;
#endif // HAL_USE_CAN || EFI_UNIT_TEST
 
private:
#if EFI_CAN_SUPPORT
    static CANDriver* s_devices[2];
#endif // EFI_CAN_SUPPORT
};
 
/**
 * A CAN message based on a type, removing the need for manually flipping bits/bytes.
 */
template <typename TData>
class CanTxTyped final : public CanTxMessage
{
#if EFI_CAN_SUPPORT
    static_assert(sizeof(TData) <= sizeof(CANTxFrame::data8));
#endif // EFI_CAN_SUPPORT
 
public:
    explicit CanTxTyped(CanCategory p_category, uint32_t p_id, bool p_isExtended, size_t canChannel) : CanTxMessage(p_category, p_id, sizeof(TData), canChannel, p_isExtended) { }
 
#if EFI_CAN_SUPPORT
    /**
     * Access members of the templated type.
     *
     * So you can do:
     * CanTxTyped<MyType> d;
     * d->memberOfMyType = 23;
     */
    TData* operator->() {
        return reinterpret_cast<TData*>(&m_frame.data8);
    }
 
    TData& get() {
        return *reinterpret_cast<TData*>(&m_frame.data8);
    }
#endif // EFI_CAN_SUPPORT
};
 
template <typename TData>
void transmitStruct(CanCategory category, uint32_t id, bool isExtended, bool canChannel)
{
    CanTxTyped<TData> frame(category, id, isExtended, canChannel);
    // Destruction of an instance of CanTxMessage will transmit the message over the wire.
    // see CanTxMessage::~CanTxMessage()
    populateFrame(frame.get());
}