socket_can_id.hpp

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// Copyright 2019 the Autoware Foundation
//
// 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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
#ifndef SOCKETCAN__SOCKET_CAN_ID_HPP_
#define SOCKETCAN__SOCKET_CAN_ID_HPP_
 
#include <common/types.hpp>
#include <socketcan/visibility_control.hpp>
 
#include <stdexcept>
 
using autoware::common::types::bool8_t;
using autoware::common::types::char8_t;
 
namespace autoware
{
namespace drivers
{
namespace socketcan
{
 
constexpr std::size_t MAX_DATA_LENGTH = 8U;
class SOCKETCAN_PUBLIC SocketCanTimeout : public std::runtime_error
{
public:
  explicit SocketCanTimeout(const char8_t * const what)
  : runtime_error{what} {}
};  // class SocketCanTimeout
 
enum class FrameType : uint32_t
{
  DATA,
  ERROR,
  REMOTE
  // SocketCan doesn't support Overload frame directly?
};  // enum class FrameType
 
struct StandardFrame_ {};
//lint -e{1502} NOLINT It's a tag
constexpr StandardFrame_ StandardFrame;
struct ExtendedFrame_ {};
//lint -e{1502} NOLINT It's a tag
constexpr ExtendedFrame_ ExtendedFrame;
 
class SOCKETCAN_PUBLIC CanId
{
public:
  using IdT = uint32_t;
  using LengthT = uint32_t;
  // Default constructor: standard data frame with id 0
  CanId() = default;
  explicit CanId(const IdT raw_id, const LengthT data_length = 0U);
  CanId(const IdT id, FrameType type, StandardFrame_);
  CanId(const IdT id, FrameType type, ExtendedFrame_);
 
  CanId & standard() noexcept;
  CanId & extended() noexcept;
  CanId & error_frame() noexcept;
  CanId & remote_frame() noexcept;
  CanId & data_frame() noexcept;
  CanId & frame_type(const FrameType type);
  CanId & identifier(const IdT id);
 
  IdT identifier() const noexcept;
  IdT get() const noexcept;
  bool8_t is_extended() const noexcept;
  FrameType frame_type() const;
  LengthT length() const noexcept;
 
private:
  SOCKETCAN_LOCAL CanId(const IdT id, FrameType type, bool8_t is_extended);
 
  IdT m_id{};
  LengthT m_data_length{};
};  // class CanId
}  // namespace socketcan
}  // namespace drivers
}  // namespace autoware
 
#endif  // SOCKETCAN__SOCKET_CAN_ID_HPP_