LinuxSocketCanPort.h

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#pragma once
 
#include <atomic>
#include <cstdint>
#include <mutex>
#include <string>
#include <thread>
 
#include "HfCanPort.h"
 
namespace hf::can {
 
class LinuxSocketCanPort final : public ICanPort {
 public:
  struct Options {
    std::string ifname{"vcan0"};
    bool fd{false};            
    uint32_t nominal_bps{0};   
  };
 
  explicit LinuxSocketCanPort(Options options);
  ~LinuxSocketCanPort() override;
  LinuxSocketCanPort(const LinuxSocketCanPort&) = delete;
  LinuxSocketCanPort& operator=(const LinuxSocketCanPort&) = delete;
 
  bool Open();
  void Close();
  bool IsOpen() const noexcept { return fd_ >= 0; }
 
  PortCaps Caps() const override;
  TxResult Send(const CanFrame& frame) override;
  void SetRxSink(RxSink sink, void* ctx) override;
  PortStatus Status() const override;
  bool Recover() override;
  void SetTxDoneSink(TxDoneSink sink, void* ctx) override;
 
 private:
  void ReadLoop();
  void HandleErrorFrame(uint32_t can_id, const uint8_t* data, uint8_t len);
 
  Options opt_;
  int fd_{-1};
  int wake_[2]{-1, -1};
  std::thread reader_;
  std::atomic<bool> run_{false};
  std::atomic<bool> want_writable_{false};
 
  std::mutex sink_mu_;
  RxSink rx_sink_{nullptr};
  void* rx_ctx_{nullptr};
  TxDoneSink tx_sink_{nullptr};
  void* tx_ctx_{nullptr};
 
  std::atomic<uint8_t> state_{static_cast<uint8_t>(BusState::Stopped)};
  std::atomic<uint16_t> tec_{0};
  std::atomic<uint16_t> rec_{0};
  std::atomic<uint32_t> rx_overruns_{0};
  std::atomic<uint32_t> tx_queue_full_{0};
  std::atomic<uint32_t> bus_off_count_{0};
};
 
}  // namespace hf::can