sta-core/include/sta/can/subscribable.hpp

/**
 * @file
 * @brief Subscription interface for CAN controller drivers.
 */
#ifndef STA_CORE_CAN_SUBSCRIBABLE_HPP
#define STA_CORE_CAN_SUBSCRIBABLE_HPP

#include <sta/can/filter.hpp>
#include <sta/can/headers.hpp>


namespace sta
{
    /**
     * @defgroup sta_core_can_sub Subscription
     * @ingroup sta_core_can
     * @brief Subscription interface for CAN controller drivers.
     * @{
     */


    /**
     * @brief Callback for handling received frames.
     *
     * @param header Frame header
     * @param buffer Frame payload buffer
     */
    using CanRxCallback = void (*) (const CanRxHeader & header, const uint8_t * buffer);


    /**
     * @brief Filter configuration and message handler.
     */
    struct CanFilterConfig
    {
        CanFilter     filter;   /**< Filter handled by callback */
        CanRxCallback callback; /**< Callback for message handling */
    };


    /**
     * @brief CAN controller with subscriptions.
     *
     * @tparam T    Implementation of CanController interface
     */
    template <typename T>
    class SubscribableCanController : public T
    {
    public:
        using T::T;

        // Subscriptions
        //

        /**
         * @brief Subscribe to specific message types.
         *
         * @param subscriptions     Array of message filters and handlers
         * @param num               Number of array entries
         */
        bool subscribe(const CanFilterConfig * subscriptions,  uint8_t num);

        /**
         * @brief Subscribe to all messages.
         *
         * @param callback  Called when message is received
         * @param fifo      FIFO used for received messages
         */
        void subscribeAll(CanRxCallback callback, uint8_t fifo);

        /**
         * @brief Unsubscribe from all messages.
         *
         * No more messages will be received.
         */
        void unsubscribeAll();


        /**
         * @brief Read message from RX FIFO and notify subscriber.
         */
        void receiveAndNotify(uint8_t fifo);

        /**
         * @brief Process pending frames from RX FIFOs.
         */
        void processMessages();


    private:
        CanRxCallback filterCallbacks_[T::MAX_FILTER_COUNT];    /**< Callbacks for RX filters */
    };


    /** @} */
} // namespace sta


#include <sta/can/subscribable.tpp>


#endif // STA_CORE_CAN_SUBSCRIBABLE_HPP