canhardware.cpp

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#include <semf/communication/canhardware.h>
#include <semf/utils/core/debug.h>
 
namespace semf
{
void CanHardware::write(const uint8_t data[], size_t dataSize)
{
    SEMF_INFO("data %p, size is %u", data, dataSize);
    if (m_isBusyWriting)
    {
        SEMF_ERROR("is busy");
        error(Error(kSemfClassId, static_cast<uint8_t>(ErrorCode::Write_IsBusy)));
        return;
    }
    if (data == nullptr)
    {
        SEMF_ERROR("data is nullptr");
        error(Error(kSemfClassId, static_cast<uint8_t>(ErrorCode::Write_DataIsNullptr)));
        return;
    }
    if (dataSize == 0)
    {
        SEMF_ERROR("size is 0");
        error(Error(kSemfClassId, static_cast<uint8_t>(ErrorCode::Write_DataSizeIsZero)));
        return;
    }
 
    m_isBusyWriting = true;
    writeHardware(data, dataSize);
}
 
void CanHardware::read(uint8_t buffer[], size_t bufferSize)
{
    if (buffer == nullptr)
    {
        SEMF_ERROR("data is nullptr");
        error(Error(kSemfClassId, static_cast<uint8_t>(ErrorCode::Read_DataIsNullptr)));
        return;
    }
    if (bufferSize == 0)
    {
        SEMF_ERROR("size is 0");
        error(Error(kSemfClassId, static_cast<uint8_t>(ErrorCode::Read_DataSizeIsZero)));
        return;
    }
    setReadBuffer(buffer, bufferSize);
}
 
bool CanHardware::isBusyReading() const
{
    return false;
}
 
bool CanHardware::isBusyWriting() const
{
    return m_isBusyWriting;
}
 
void CanHardware::request()
{
    SEMF_INFO("request");
    if (m_isBusyWriting)
    {
        SEMF_ERROR("is busy");
        error(Error(kSemfClassId, static_cast<uint8_t>(ErrorCode::Request_IsBusy)));
        return;
    }
    m_isBusyWriting = true;
    requestHardware();
}
 
void CanHardware::setBusyWriting(bool isBusy)
{
    m_isBusyWriting = isBusy;
}
 
void CanHardware::onDataWritten()
{
    m_isBusyWriting = false;
    SEMF_INFO("data written");
    dataWritten();
}
 
void CanHardware::onDataAvailable()
{
    SEMF_INFO("data available");
    dataAvailable();
}
 
void CanHardware::onError(Error thrown)
{
    m_isBusyWriting = false;
    SEMF_ERROR("error");
    error(thrown);
}
 
void CanHardware::onDataRequested()
{
    dataRequested();
}
} /* namespace semf */