Line data    Source code

       1             : /*
       2             :  * This file is free software: you can redistribute it and/or modify it
       3             :  * under the terms of the GNU General Public License as published by the
       4             :  * Free Software Foundation, either version 3 of the License, or
       5             :  * (at your option) any later version.
       6             :  *
       7             :  * This file is distributed in the hope that it will be useful, but
       8             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      10             :  * See the GNU General Public License for more details.
      11             :  *
      12             :  * You should have received a copy of the GNU General Public License along
      13             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #pragma once
      17             : 
      18             : #include "AP_CANManager_config.h"
      19             : 
      20             : #if AP_MAVLINKCAN_ENABLED
      21             : 
      22             : #include <AP_HAL/AP_HAL.h>
      23             : #include <AP_HAL/utility/RingBuffer.h>
      24             : #include <GCS_MAVLink/GCS_MAVLink.h>
      25             : #include <AP_HAL/CANIface.h>
      26             : #include <AP_HAL/utility/OwnPtr.h>
      27             : #include <GCS_MAVLink/GCS.h>
      28             : 
      29             : class AP_MAVLinkCAN {
      30             : public:
      31           0 :     AP_MAVLinkCAN() {}
      32             : 
      33             :     // Handle commands to forward CAN frames to GCS
      34             :     static bool handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg);
      35             : 
      36             :     // Handle received MAVLink CAN frames
      37             :     static void handle_can_frame(const mavlink_message_t &msg);
      38             : 
      39             :     // Handle CAN filter modification
      40             :     static void handle_can_filter_modify(const mavlink_message_t &msg);
      41             : 
      42             : private:
      43             :     // Callback for receiving CAN frames from CAN bus and sending to GCS
      44             :     void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame, AP_HAL::CANIface::CanIOFlags flags);
      45             :     
      46             :     /*
      47             :      * Structure to maintain forwarding state
      48             :      */
      49             :     struct {
      50             :         mavlink_channel_t chan;
      51             :         uint8_t system_id;
      52             :         uint8_t component_id;
      53             :         uint8_t frame_counter;
      54             :         uint32_t last_callback_enable_ms;
      55             :         HAL_Semaphore sem;
      56             :         uint16_t num_filter_ids;
      57             :         uint16_t *filter_ids;
      58             :         uint8_t callback_id;
      59             :         uint8_t callback_bus;
      60             :     } can_forward;
      61             : 
      62             :     // Buffer for storing CAN frames to be sent
      63             :     struct BufferFrame {
      64             :         uint8_t bus;
      65             :         AP_HAL::CANFrame frame;
      66             :     };
      67             :     
      68             :     // Frame buffer for queuing frames
      69             :     HAL_Semaphore frame_buffer_sem;
      70             :     ObjectBuffer<BufferFrame> *frame_buffer;
      71             : 
      72             :     static AP_MAVLinkCAN *ensure_singleton();
      73             : 
      74             :     // Process CAN frame forwarding
      75             :     void process_frame_buffer();
      76             : 
      77             :     // Handle commands to forward CAN frames to GCS
      78             :     bool _handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg);
      79             : 
      80             :     // Handle received MAVLink CAN frames
      81             :     void _handle_can_frame(const mavlink_message_t &msg);
      82             : 
      83             :     // Handle CAN filter modification
      84             :     void _handle_can_filter_modify(const mavlink_message_t &msg);
      85             : };
      86             : 
      87             : #endif // AP_MAVLINKCAN_ENABLED