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70 lines
2.2 KiB
70 lines
2.2 KiB
7 months ago
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/*
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* Copyright (C) 2019 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#pragma once
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#include <android-base/macros.h>
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#include <android-base/unique_fd.h>
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#include <linux/can.h>
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#include <atomic>
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#include <chrono>
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#include <thread>
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namespace android::hardware::automotive::can::V1_0::implementation {
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/** Wrapper around SocketCAN socket. */
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struct CanSocket {
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using ReadCallback = std::function<void(const struct canfd_frame&, std::chrono::nanoseconds)>;
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using ErrorCallback = std::function<void(int errnoVal)>;
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/**
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* Open and bind SocketCAN socket.
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*
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* \param ifname SocketCAN network interface name (such as can0)
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* \param rdcb Callback on received messages
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* \param errcb Callback on socket failure
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* \return Socket instance, or nullptr if it wasn't possible to open one
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*/
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static std::unique_ptr<CanSocket> open(const std::string& ifname, ReadCallback rdcb,
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ErrorCallback errcb);
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virtual ~CanSocket();
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/**
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* Send CAN frame.
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*
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* \param frame Frame to send
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* \return true in case of success, false otherwise
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*/
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bool send(const struct canfd_frame& frame);
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private:
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CanSocket(base::unique_fd socket, ReadCallback rdcb, ErrorCallback errcb);
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void readerThread();
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ReadCallback mReadCallback;
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ErrorCallback mErrorCallback;
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const base::unique_fd mSocket;
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std::thread mReaderThread;
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std::atomic<bool> mStopReaderThread = false;
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std::atomic<bool> mReaderThreadFinished = false;
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DISALLOW_COPY_AND_ASSIGN(CanSocket);
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};
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} // namespace android::hardware::automotive::can::V1_0::implementation
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