can.hpp

[詳解]

#pragma once
 
#include "main.h"
 
#include <cstddef>
#include <cstdint>
#include <unordered_map>
 
#include "cmsis_os2.h"
 
#include "can_base.hpp"
 
namespace tutrc_harurobo_lib {
 
class CAN : public CANBase {
public:
  bool init(CAN_HandleTypeDef *hcan, size_t rx_queue_size = 64);
  bool transmit(const CANMessage *msg) override;
  bool receive(CANMessage *msg, uint32_t timeout) override;
  size_t available() override;
 
private:
  CAN_HandleTypeDef *hcan_;
  osMessageQueueId_t rx_queue_;
 
  static std::unordered_map<CAN_HandleTypeDef *, CAN *> instances_;
  friend void ::HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
};
 
} // namespace tutrc_harurobo_lib