Rebase onto main

include/sta/tacos/can_bus.hpp

@@ -0,0 +1,118 @@
+#ifndef INCLUDE_TACOS_CAN_BUS_HPP_
+#define INCLUDE_TACOS_CAN_BUS_HPP_
+
+#include <sta/config.hpp>
+
+//TODO UNCOMMENT THIS
+//#ifdef STA_RTOS_CAN_BUS_ENABLE
+
+#include <sta/tacos/thread.hpp>
+#include <sta/rtos/queue.hpp>
+#include <sta/debug/assert.hpp>
+#include <sta/rtos/system/can_bus.hpp>
+
+
+/**
+ * @defgroup tacos_can_bus Can Bus Task
+ * @ingroup tacos
+ * @brief Can Bus task for TACOS.
+ */
+
+namespace sta
+{
+	namespace tacos
+	{
+        /**
+		 * @brief Can Bus implementation for Tacos.
+		 *
+		 * @ingroup tacos_can_bus
+		 */
+		class CanBus : public TacosThread
+        {
+        public:
+            /**
+			 * @brief Getter function for the singleton instance.
+			 */
+			static CanBus* instance(CAN_HandleTypeDef * handle)
+			{
+				static CGuard g;
+
+				if (!_instance)
+				{
+					// Create the can bus singleton instance.
+					CanBus::_instance = new CanBus(handle);
+				}
+
+				return _instance;
+			}
+
+        /**
+		 * @brief Place data message in CAN driver TX queue.
+		 *
+		 * @param msg       Message to transmit
+		 * @param timeout   Timeout for placing message (0 = no wait, osWaitForever = blocking)
+		 * @return          True if message was queued successfully
+		 */
+		bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout);
+		/**
+		 * @brief Place system message in CAN driver TX queue.
+		 *
+		 * @param msg       Message to transmit
+		 * @param timeout   Timeout for placing message (0 = no wait, osWaitForever = blocking)
+		 * @return          True if message was queued successfully
+		 */
+		bool queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout);
+
+		/**
+		 * @brief Retrieve data message from CAN driver TX queue.
+		 *
+		 * @param[out] msg	    Output address for retrieved message
+		 * @param      timeout  Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
+		 * @return              True if message was retrieved successfully
+		 */
+		bool getCanBusMsg(CanDataMsg * msg, uint32_t timeout);
+		/**
+		 * @brief Retrieve system message from CAN driver TX queue.
+		 *
+		 * @param[out] msg      Destination for retrieved message
+		 * @param      timeout  Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
+		 * @return              True if message was retrieved successfully
+		 */
+		bool getCanBusMsg(CanSysMsg * msg, uint32_t timeout);
+
+
+        private:
+            static CanBus * _instance;
+
+			class CGuard
+			{
+			public:
+			   ~CGuard()
+			   {
+				  if( NULL != CanBus::_instance )
+				  {
+					 delete CanBus::_instance;
+					 CanBus::_instance = NULL;
+				  }
+			   }
+			};
+
+
+            RtosQueue<CanDataMsg> canBusDataQueue_;
+            RtosQueue<CanDataMsg> canBusSysQueue_;
+
+            CanDataMsg canBusDataQueueBuffer[queueLength];
+            CanSysMsg canBusSysQueueBuffer[queueLength];
+            uint32_t canBusStack[256];
+
+            sta::STM32CanController * canBusController_;
+	        const size_t queueLength_;
+            AlpakaCanBus canBus_;
+        }
+
+    } /* namespace tacos */
+
+} /* namespace sta */
+
+#endif /* STA_RTOS_CAN_BUS_ENABLE */
+#endif /* INCLUDE_TACOS_CAN_BUS_HPP_ */