can.h

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#pragma once
 
#include <cstdint>
#include <string_view>
#include <asio.hpp>
#include <linux/can.h>
 
#include "base.hpp"
#include "core/async.hpp"
#include "core/logger.h"
 
namespace roboctrl::io{
 
using can_id_type = uint32_t;
 
class can:public keyed_io_base<std::uint32_t>,public logable<can>{
public:
    struct info_type{
        std::string_view can_name;
 
        using key_type = std::string_view;
        using owner_type = can;
 
        std::string_view key() const{return can_name;}
    };
 
    using key_type = std::uint32_t;
 
    can(const info_type& info);
 
    ~can();
 
    awaitable<void> send(byte_span data);
 
    awaitable<void> send(can_id_type id,byte_span data);
 
    awaitable<void> task();
 
    std::string desc()const{
        return std::format("bare can({})",info_.can_name);
    }
 
private:
    asio::posix::stream_descriptor stream_;
    info_type info_;
    std::array<std::byte,20> buffer_;
    ::can_frame *cf_;
    std::string can_name_;
};
}