#include <CanBridge.h>

Inheritance diagram for CanBridge:

Public Member Functions
	CanBridge ()

virtual	~CanBridge ()

const ClassIdentifier	getInfo () override

CommandStatus	command (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

void	sendMessage (uint32_t id, uint64_t msg, uint8_t len, bool rtr)

void	sendMessage ()

void	canRxPendCallback (CANPort *port, CAN_rx_msg &msg) override

void	canErrorCallback (CANPort *port, uint32_t error)

void	cdcRcv (char Buf, uint32_t Len) override

std::string	messageToString (CAN_rx_msg msg)

void	update ()

void	registerCommands ()

virtual std::string	getHelpstring ()

Public Member Functions inherited from FFBoardMain
const ClassType	getClassType () override
	returns the used classchooser selection id of this instance More...

	FFBoardMain ()

virtual	~FFBoardMain ()

virtual void	usbInit ()

virtual void	cdcRcvReady (uint8_t itf)

virtual void	usbSuspend ()

virtual void	usbResume ()

Public Member Functions inherited from ChoosableClass
virtual	~ChoosableClass ()

uint16_t	getSelectionID ()

Public Member Functions inherited from CommandHandler
	CommandHandler (const char *clsname, uint16_t clsid, uint8_t instance=0)

virtual	~CommandHandler ()

virtual bool	hasCommands ()

virtual void	setCommandsEnabled (bool enable)

void	registerCommands ()

virtual CommandStatus	internalCommand (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

virtual std::string	getCommandsHelpstring ()

virtual std::string	getCsvHelpstring ()

virtual uint8_t	getCommandHandlerInstance ()

void	broadcastCommandReply (CommandReply reply, uint32_t cmdId, CMDtype type)

void	sendCommandReplyAsync (CommandReply reply, uint32_t cmdId, CMDtype type, CommandInterface *interface=nullptr)

virtual uint16_t	getCommandHandlerID ()

virtual CmdHandlerInfo *	getCommandHandlerInfo ()

virtual bool	isValidCommandId (uint32_t cmdid, uint32_t ignoredFlags=0, uint32_t requiredFlag=0)

virtual CmdHandlerCommanddef *	getCommandFromName (const std::string &cmd, uint32_t ignoredFlags=0)

virtual CmdHandlerCommanddef *	getCommandFromId (const uint32_t id, uint32_t ignoredFlags=0)

template<typename ID >
void	registerCommand (const char cmd, const ID cmdid, const char help=nullptr, uint32_t flags=0)

Public Member Functions inherited from CanHandler
	CanHandler ()

virtual	~CanHandler ()

virtual void	canRxFullCallback (CANPort *port, uint32_t fifo)

virtual void	canTxCpltCallback (CANPort *port, uint32_t mailbox)

virtual void	canTxAbortCallback (CANPort *port, uint32_t mailbox)

Static Public Member Functions
static bool	isCreatable ()

Static Public Member Functions inherited from FFBoardMain
static bool	isCreatable ()

Static Public Member Functions inherited from ChoosableClass
static bool	isCreatable ()

Static Public Member Functions inherited from CommandHandler
static void	logSerial (std::string string)
	Send a log formatted sequence. More...

static void	logSerialDebug (std::string string)
	Send a log formatted sequence if debug is on. More...

static bool	logsEnabled ()

static void	setLogsEnabled (bool enabled)

static uint32_t	getClassIdFromName (const char *name)

static const char *	getClassNameFromId (const uint32_t id)

static CommandHandler *	getHandlerFromHandlerId (const uint16_t cmdhandlerID)

static CommandHandler *	getHandlerFromId (const uint16_t id, const uint8_t instance=0xFF)

static CommandHandler *	getHandlerFromClassName (const char *name, const uint8_t instance=0xFF)

static std::vector< CommandHandler * >	getHandlersFromClassName (const char *name)

static std::vector< CommandHandler * >	getHandlersFromId (const uint16_t id)

static bool	isInHandlerList (CommandHandler *handler)

static std::string	getAllHelpstrings ()

static std::vector< CommandHandler * > &	getCommandHandlers ()

template<typename TVal >
static CommandStatus	handleGetSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value)

template<typename TVal , class cls , class cls1 >
static CommandStatus	handleGetSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, void(cls1::setfunc)(TVal), cls obj)

template<typename TVal , class cls , class cls1 , class cls2 >
static CommandStatus	handleGetFuncSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal(cls1::getfunc)(), void(cls2::setfunc)(TVal), cls *obj)

template<typename TVal , class cls , class cls1 >
static CommandStatus	handleGetFuncSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, TVal(cls1::getfunc)(), cls obj)

Static Public Member Functions inherited from CanHandler
static std::vector< CanHandler * > &	getCANHandlers ()

Public Attributes
volatile bool	replyPending = false

Public Attributes inherited from FFBoardMain
std::unique_ptr< FFBoardMainCommandThread >	commandThread

std::unique_ptr< CDC_CommandInterface >	cdcCmdInterface = std::make_unique<CDC_CommandInterface>()

ErrorPrinter	errorPrinter

SystemCommands	systemCommands
	System command handler. More...

std::unique_ptr< UART_CommandInterface >	uartCmdInterface = std::make_unique<UART_CommandInterface>(115200)

Static Public Attributes
static ClassIdentifier	info

Static Public Attributes inherited from FFBoardMain
static ClassIdentifier	info ={.name = "Basic (Failsafe)" ,.id=0}

Static Public Attributes inherited from ChoosableClass
static ClassIdentifier	info

Static Public Attributes inherited from CommandHandler
static bool	logEnabled = true

Private Types
enum class	CanBridge_commands : uint32_t { can , canrtr , canspd }

Private Attributes
CANPort *	port = &canport

std::vector< CAN_rx_msg >	rxmessages

CAN_rx_msg	lastmsg

int32_t	filterId = -1

const uint8_t	numBuses = 1

CAN_msg_header_tx	txHeader

uint8_t	txBuf [8] = {0}

uint32_t	txMailbox

uint32_t	rxfifo = 0

CAN_Config_t	conf1

CAN_Config_t	conf2

bool	gvretMode = false

const std::vector< char >	keepalivemsg = {0xF1,0x09, 0xDE,0xAD}

Additional Inherited Members
Protected Member Functions inherited from CommandHandler
void	setInstance (uint8_t instance)

virtual void	addCommandHandler ()

virtual void	removeCommandHandler ()

Static Protected Member Functions inherited from CommandHandler
static std::vector< uint16_t > &	getCommandHandlerIds ()

Protected Attributes inherited from FFBoardMain
std::unique_ptr< USBdevice >	usbdev

Protected Attributes inherited from ChoosableClass
uint16_t	selectionId
	Should only be written by ClassChooser during creation. More...

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Static Protected Attributes inherited from FFBoardMain
static char	cdcbuf []

Detailed Description

A main class for testing CAN communication. Sends CAN messages via CDC and can transmit CAN messages with 4 bytes

Definition at line 36 of file CanBridge.h.

Member Enumeration Documentation

◆ CanBridge_commands

enum class CanBridge::CanBridge_commands : uint32_t

strongprivate

Enumerator
can
canrtr
canspd

Definition at line 37 of file CanBridge.h.

Constructor & Destructor Documentation

◆ CanBridge()

CanBridge::CanBridge ( )

Definition at line 27 of file CanBridge.cpp.

◆ ~CanBridge()

CanBridge::~CanBridge ( )

virtual

Definition at line 48 of file CanBridge.cpp.

Member Function Documentation

◆ canErrorCallback()

void CanBridge::canErrorCallback	(	CANPort *	port,
		uint32_t	errcode
	)

virtual

Error during can transfer

Reimplemented from CanHandler.

Definition at line 55 of file CanBridge.cpp.

◆ canRxPendCallback()

void CanBridge::canRxPendCallback	(	CANPort *	port,
		CAN_rx_msg &	msg
	)

overridevirtual

New message received in fifo number

Reimplemented from CanHandler.

Definition at line 78 of file CanBridge.cpp.

◆ cdcRcv()

void CanBridge::cdcRcv	(	char *	Buf,
		uint32_t *	Len
	)

overridevirtual

Called when data is received on the CDC port

Reimplemented from FFBoardMain.

Definition at line 138 of file CanBridge.cpp.

◆ command()

CommandStatus CanBridge::command	(	const ParsedCommand &	cmd,
		std::vector< CommandReply > &	replies
	)

virtual

Parameters

[in]	cmd	The parsed command to be executed.
[out]	replies	A vector to return one or multiple reply objects into. Replies to the interface will be generated based on the reply objects. A string reply may not contain start, end and separation markers: [,],\| Other characters are allowed.

Reimplemented from FFBoardMain.

Definition at line 291 of file CanBridge.cpp.

◆ getHelpstring()

virtual std::string CanBridge::getHelpstring ( )

inlinevirtual

Returns a description of this class

Reimplemented from FFBoardMain.

Definition at line 62 of file CanBridge.h.

◆ getInfo()

const ClassIdentifier CanBridge::getInfo ( )

overridevirtual

Reimplemented from FFBoardMain.

Definition at line 23 of file CanBridge.cpp.

◆ isCreatable()

static bool CanBridge::isCreatable ( )

inlinestatic

Definition at line 47 of file CanBridge.h.

◆ messageToString()

std::string CanBridge::messageToString ( CAN_rx_msg msg )

Definition at line 89 of file CanBridge.cpp.

◆ registerCommands()

void CanBridge::registerCommands ( )

◆ sendMessage() [1/2]

void CanBridge::sendMessage ( )

◆ sendMessage() [2/2]

void CanBridge::sendMessage	(	uint32_t	id,
		uint64_t	msg,
		uint8_t	len = `8`,
		bool	rtr = `false`
	)

Definition at line 61 of file CanBridge.cpp.

◆ update()

void CanBridge::update ( )

virtual

Called in the default thread with no delay Can be reimplemented by custom main classes but should not block

Reimplemented from FFBoardMain.

Definition at line 98 of file CanBridge.cpp.

Member Data Documentation

◆ conf1

CAN_Config_t CanBridge::conf1

private

Definition at line 78 of file CanBridge.h.

◆ conf2

CAN_Config_t CanBridge::conf2

private

Definition at line 79 of file CanBridge.h.

◆ filterId

int32_t CanBridge::filterId = -1

private

Definition at line 69 of file CanBridge.h.

◆ gvretMode

bool CanBridge::gvretMode = false

private

Definition at line 80 of file CanBridge.h.

◆ info

ClassIdentifier CanBridge::info

static

Initial value:

= {
         .name = "CAN Bridge (GVRET)" ,
         .id=CLSID_MAIN_CAN,
         .visibility = ClassVisibility::visible 
 }

Definition at line 45 of file CanBridge.h.

◆ keepalivemsg

const std::vector<char> CanBridge::keepalivemsg = {0xF1,0x09, 0xDE,0xAD}

private

Definition at line 81 of file CanBridge.h.

◆ lastmsg

CAN_rx_msg CanBridge::lastmsg

private

Definition at line 68 of file CanBridge.h.

◆ numBuses

const uint8_t CanBridge::numBuses = 1

private

Definition at line 70 of file CanBridge.h.

◆ port

CANPort* CanBridge::port = &canport

private

Definition at line 66 of file CanBridge.h.

◆ replyPending

volatile bool CanBridge::replyPending = false

Definition at line 59 of file CanBridge.h.

◆ rxfifo

uint32_t CanBridge::rxfifo = 0

private

Definition at line 77 of file CanBridge.h.

◆ rxmessages

std::vector<CAN_rx_msg> CanBridge::rxmessages

private

Definition at line 67 of file CanBridge.h.

◆ txBuf

uint8_t CanBridge::txBuf[8] = {0}

private

Definition at line 75 of file CanBridge.h.

◆ txHeader

CAN_msg_header_tx CanBridge::txHeader

private

Definition at line 73 of file CanBridge.h.

◆ txMailbox

uint32_t CanBridge::txMailbox

private

Definition at line 76 of file CanBridge.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ CanBridge_commands

Constructor & Destructor Documentation

◆ CanBridge()

◆ ~CanBridge()

Member Function Documentation

◆ canErrorCallback()

◆ canRxPendCallback()

◆ cdcRcv()

◆ command()

◆ getHelpstring()

◆ getInfo()

◆ isCreatable()

◆ messageToString()

◆ registerCommands()

◆ sendMessage() [1/2]

◆ sendMessage() [2/2]

◆ update()

Member Data Documentation

◆ conf1

◆ conf2

◆ filterId

◆ gvretMode

◆ info

◆ keepalivemsg

◆ lastmsg

◆ numBuses

◆ port

◆ replyPending

◆ rxfifo

◆ rxmessages

◆ txBuf

◆ txHeader

◆ txMailbox