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