can.h

浏览该文件的文档.

 
#pragma once
 
#include <cstdint>
#include <string>
#include <asio.hpp>
 
#include "base.hpp"
#include "core/async.hpp"
#include "core/logger.h"
#include "write_queue.hpp"
 
namespace roboctrl::io{
 
using can_id_type = uint32_t;
 
inline constexpr uint64_t can_write_key(can_id_type id, size_t payload_size) {
    return uint64_t{id} | (uint64_t{payload_size} << 32);
}
 
class can:public keyed_io_base<std::uint32_t>,public logable<can>{
public:
    struct info_type{
        std::string name;
        std::string interface_name;
 
        using key_type = std::string;
        using owner_type = can;
 
        const std::string& key() const{return name;}
    };
 
    using key_type = std::uint32_t;
 
    can(const info_type& info);
 
    ~can() = default;
 
    void start();
 
    awaitable<void> send(can_id_type id,byte_span data);
 
    awaitable<void> task();
 
    std::string desc()const{
        return std::format("bare can({} on {})",info_.name, info_.interface_name);
    }
 
private:
    asio::posix::stream_descriptor stream_;
    write_queue write_queue_;
    info_type info_;
    std::array<std::byte,20> buffer_;
    std::string interface_name_;
    bool started_ {false};
};
 
static_assert(keyed_io<can>);
}