socket_can_receiver.hpp

Go to the documentation of this file.

// 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_RECEIVER_HPP_
#define SOCKETCAN__SOCKET_CAN_RECEIVER_HPP_
 
#include <socketcan/visibility_control.hpp>
#include <socketcan/socket_can_id.hpp>
 
#include <array>
#include <chrono>
#include <cstring>
#include <string>
 
namespace autoware
{
namespace drivers
{
namespace socketcan
{
 
class SOCKETCAN_PUBLIC SocketCanReceiver
{
public:
  explicit SocketCanReceiver(const std::string & interface = "can0");
  ~SocketCanReceiver() noexcept;
 
  CanId receive(
    void * const data,
    const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const;
  template<typename T, typename = std::enable_if_t<!std::is_pointer<T>::value>>
  CanId receive(
    T & data,
    const std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero()) const
  {
    static_assert(sizeof(data) <= MAX_DATA_LENGTH, "Data type too large for CAN");
    std::array<uint8_t, MAX_DATA_LENGTH> data_raw{};
    const auto ret = receive(&data_raw[0U], timeout);
    if (ret.length() != sizeof(data)) {
      throw std::runtime_error{"Received CAN data is of size incompatible with provided type!"};
    }
    (void)std::memcpy(&data, &data_raw[0U], ret.length());
    return ret;
  }
 
private:
  // Wait for file descriptor to be available to send data via select()
  SOCKETCAN_LOCAL void wait(const std::chrono::nanoseconds timeout) const;
 
  int32_t m_file_descriptor;
};  // class SocketCanReceiver
 
}  // namespace socketcan
}  // namespace drivers
}  // namespace autoware
 
#endif  // SOCKETCAN__SOCKET_CAN_RECEIVER_HPP_