canhardware.h

Go to the documentation of this file.

 
#ifndef SEMF_COMMUNICATION_CANHARDWARE_H_
#define SEMF_COMMUNICATION_CANHARDWARE_H_
 
#include <semf/communication/communicationhardwareasynchronous.h>
#include <semf/communication/can.h>
 
namespace semf
{
class CanHardware : public Can, public CommunicationHardwareAsynchronous
{
public:
    enum class ErrorCode : uint8_t
    {
        Write_IsBusy = 0,
        Write_DataIsNullptr,
        Write_DataSizeIsZero,
        Read_DataIsNullptr,
        Read_DataSizeIsZero,
        Request_IsBusy
    };
 
    virtual ~CanHardware() = default;
 
    void write(const uint8_t data[], size_t dataSize) override;
    void read(uint8_t buffer[], size_t bufferSize) override;
    bool isBusyReading() const override;
    bool isBusyWriting() const override;
    void request() override;
 
protected:
    void setBusyWriting(bool isBusy);
    virtual void setReadBuffer(uint8_t buffer[], size_t bufferSize) = 0;
    virtual void writeHardware(const uint8_t data[], size_t dataSize) = 0;
    virtual void requestHardware() = 0;
    void onDataWritten();
    void onDataAvailable();
    void onError(Error thrown);
    void onDataRequested();
 
private:
    bool m_isBusyWriting = false;
    static constexpr Error::ClassID kSemfClassId = Error::ClassID::CanHardware;
};
} /* namespace semf */
#endif /* SEMF_COMMUNICATION_CANHARDWARE_H_ */