CanDriver.hpp

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#ifndef CANDRIVER_HPP
#define CANDRIVER_HPP
 
#include <string>
#include <functional>
#include <set>
#include <memory>
#include <unordered_map>
#include <tl/expected.hpp>
#include "CanFrame.hpp"
#include "OneMotor/Util/Error.hpp"
 
#ifdef ONE_MOTOR_LINUX
#include <HyCAN/Interface/Interface.hpp>
#endif
 
 
namespace OneMotor::Can
{
    class CanDriver
    {
    public:
        using CallbackFunc = std::function<void(CanFrame&&)>;
 
#ifdef ONE_MOTOR_LINUX
        explicit CanDriver(std::string interface_name);
#else
        explicit CanDriver(const device* device);
#endif

        ~CanDriver();
 
        CanDriver(const CanDriver&) = delete;
        CanDriver& operator=(const CanDriver&) = delete;
 
        tl::expected<bool, Error> is_open();

        tl::expected<void, Error> open();

        tl::expected<void, Error> close();

        tl::expected<void, Error> send(const CanFrame& frame);

#ifdef ONE_MOTOR_LINUX
        tl::expected<void, Error> registerCallback(const std::set<size_t>& can_ids, const CallbackFunc& func);
#else
        tl::expected<void, Error> registerCallback(const std::set<size_t>& can_ids, const CallbackFunc& func);
#endif
 
    private:
#ifdef ONE_MOTOR_LINUX
        std::string interface_name; 
        HyCAN::CANInterface interface; 
#else
        const device* can_dev;
 
 
#endif
    };
}
 
 
#endif //CANDRIVER_HPP