CANDriverInterface Class Reference

A common interface to the CAN bus. More...

#include <can/CANDriverInterface.h>

Inheritance diagram for CANDriverInterface:

Public Member Functions
Construtor and destructor
	CANDriverInterface (const std::string &driver)
	Construct a new CAN interface. More...
virtual	~CANDriverInterface ()
	The destructor. More...
Operations on the CAN interface
void	open (const std::string &deviceName, CANBaudRate baudRate=CAN_BAUDRATE_250K)
	Open the CAN interface. More...
void	close ()
	Close the CAN interface. More...
uint8	getBusLoad () const
	Returns the current load of the CAN bus. More...
General methods
CANDriverPtr	getDriver () const
	Returns a pointer to CAN driver. More...
Overloaded methods from CANInterface
virtual void	sendMessage (const CANMessage &pMsg)
	Send a new message over the CAN bus. More...
Outgoing messages
uint32	addMessageSentListener (CANMessageCallback pFunc, uint32 pMask=0x00000000, uint32 pFilter=0xFFFFFFFF)
	Register a new message listener for outgoing messages. More...
void	removeMessageSentListener (uint32 pFuncID)
	Unregister an outgoing message listener. More...
Incoming messages
uint32	addMessageRecvListener (CANMessageCallback pFunc, uint32 pMask=0x00000000, uint32 pFilter=0xFFFFFFFF)
	Register a new CAN message listener. More...
void	removeMessageRecvListener (uint32 pFuncID)
	Unregister a message listener. More...
Interface to the PDO listener
uint32	addPDOListener (PDOCallback pFunc, uint32 pPDO)
	Add a callback for a specific PDO. More...
void	removePDOListener (uint32 pFuncID)
	Remove a PDO callback. More...

Protected Member Functions
void	onMessageSend (const CANMessage &message, const Time &time)
void	onMessageReceived (const CANMessage &message, const Time &time)

Detailed Description

A common interface to the CAN bus.

This class is able to handle different CAN drivers.

Constructor & Destructor Documentation

CANDriverInterface()

CANDriverInterface

(

const std::string &

driver

)

Construct a new CAN interface.

Parameters

[in]

driver

The requested driver type.

~CANDriverInterface()

virtual ~CANDriverInterface ( )

virtual

The destructor.

Member Function Documentation

open()

void open	(	const std::string &	deviceName,
		CANBaudRate	baudRate = CAN_BAUDRATE_250K
	)

Open the CAN interface.

Parameters

[in]	deviceName	The device name.
[in]	baudRate	The baud rate.

close()

void close

(

)

Close the CAN interface.

getBusLoad()

uint8 getBusLoad

(

)

const

Returns the current load of the CAN bus.

The computation of the bus load is based on the number of received bits in a certain time interval. The current implementation uses a time interval of about one second.

Returns

The approximate bus load in percent.

getDriver()

CANDriverPtr getDriver ( ) const

inline

Returns a pointer to CAN driver.

sendMessage()

virtual void sendMessage ( const CANMessage &  msg )

virtual

Send a new message over the CAN bus.

Parameters

[in]

msg

The CAN message.

Returns

Error code.

Implements CANInterface.

addMessageSentListener()

uint32 addMessageSentListener ( CANMessageCallback  pFunc, uint32  pMask = 0x00000000, uint32  pFilter = 0xFFFFFFFF  )

inherited

Register a new message listener for outgoing messages.

This method adds a new listener for outgoing messages on the CAN bus. For each listener a message filter can be defined. Therefore the mask pMask defines the relevant bits and the filter is defined in pFilter.

Parameters

[in]	pFunc	The listener function.
[in]	pMask	The filter mask.
[in]	pFilter	The filter itself.

Returns

An unique ID for the registered function.

removeMessageSentListener()

void removeMessageSentListener ( uint32  pFuncID )

inherited

Unregister an outgoing message listener.

Parameters

[in]

pFuncID

The ID of the listener function, which should be removed.

addMessageRecvListener()

uint32 addMessageRecvListener ( CANMessageCallback  pFunc, uint32  pMask = 0x00000000, uint32  pFilter = 0xFFFFFFFF  )

inherited

Register a new CAN message listener.

This method adds a new listener for incoming messages on the CAN bus. For each listener a message filter can be defined. Therefore the mask pMask defines the relevant bits and the filter is defined in pFilter.

Parameters

[in]	pFunc	The listener function.
[in]	pMask	The filter mask.
[in]	pFilter	The filter itself.

Returns

An unique ID for the registered function.

removeMessageRecvListener()

void removeMessageRecvListener ( uint32  pFuncID )

inherited

Unregister a message listener.

Parameters

[in]

pFuncID

The ID of the listener function, which should be removed.

addPDOListener()

uint32 addPDOListener ( PDOCallback  pFunc, uint32  pPDO  )

inherited

Add a callback for a specific PDO.

Parameters

[in]	pFunc	The callback function.
[in]	pPDO	The desired PDO ID.

Returns

An unique ID of the registered function.

removePDOListener()

void removePDOListener ( uint32  pFuncID )

inherited

Remove a PDO callback.

Parameters

[in]

pFuncID

The ID of the callback, which should be removed.

onMessageSend()

void onMessageSend ( const CANMessage &  message, const Time &  time  )

protectedinherited

onMessageReceived()

void onMessageReceived ( const CANMessage &  message, const Time &  time  )

protectedinherited

---

The documentation for this class was generated from the following file:

• include/can/CANDriverInterface.h