CanDriver.hpp

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#ifndef CANDRIVER_HPP
#define CANDRIVER_HPP
 
#include <string>
#include <functional>
#include <set>
#include <expected>
#include "CanFrame.hpp"
 
#ifdef ONE_MOTOR_LINUX
#include <HyCAN/Interface/Interface.hpp>
#endif
 
 
namespace OneMotor::Can
{
    class CanDriver
    {
    public:
        using CallbackFunc = std::function<void(CanFrame&&)>;

        using Result = std::expected<void, std::string>;

        explicit CanDriver(std::string interface_name);

        ~CanDriver();
 
        CanDriver(const CanDriver&) = delete;
        CanDriver& operator=(const CanDriver&) = delete;

        Result open();

        Result close();

        Result send(const CanFrame& frame);

        Result registerCallback(const std::set<size_t>& can_ids, const CallbackFunc& func);
 
    private:
        std::string interface_name; 
#ifdef ONE_MOTOR_LINUX
        HyCAN::Interface interface; 
#endif
    };
}
 
 
#endif //CANDRIVER_HPP