CANMessage.h

00001 /// @file CANMessage.h 
00002 /// CANMessage is the primitive CAN message object. It supports creation,
00003 /// parsing, formatting, of messages.
00004 ///
00005 /// @version 1.0
00006 ///
00007 /// @note Copyright &copr; 2011 by Smartware Computing, all rights reserved.
00008 ///     Individuals may use this application for evaluation or non-commercial
00009 ///     purposes. Within this restriction, changes may be made to this application
00010 ///     as long as this copyright notice is retained. The user shall make
00011 ///     clear that their work is a derived work, and not the original.
00012 ///     Users of this application and sources accept this application "as is" and
00013 ///     shall hold harmless Smartware Computing, for any undesired results while
00014 ///     using this application - whether real or imagined.
00015 ///
00016 /// @author David Smart, Smartware Computing
00017 ///
00018 
00019 #ifndef CANMESSAGE_H
00020 #define CANMESSAGE_H
00021 #include "mbed.h"
00022 
00023 /// CAN direction, in the set {rcv, xmt}
00024 typedef enum {
00025     rcv,
00026     xmt
00027 } CANDIR_T;
00028 
00029 
00030 /// CAN Channel in the set {CH1, CH2} of CANCHANNELS
00031 typedef enum {
00032     CH1,
00033     CH2,
00034     CANCHANNELS
00035 } CANCHANNEL_T;
00036 
00037 
00038 // CAN mode - active(acknowledge) or passive(monitor)
00039 //typedef enum {
00040 //    ACTIVE,
00041 //    PASSIVE
00042 //} CANMODE_T;
00043 
00044 
00045 /// A super CAN message object, which has additional capabilities
00046 ///
00047 /// This object is derived from CANMessage, however it adds
00048 /// a timestamp and other useful methods.
00049 ///
00050 class CANmsg : public CANMessage
00051 {
00052 public:
00053     /// Constructor for a CANmsg object, which is a superclass of CANMessage
00054     ///
00055     /// The CANmsg object included additional information, including
00056     /// direction, channel number, timestamp, and the ability to format
00057     /// into ASCII
00058     ///
00059     CANmsg();
00060     
00061     /// Constructor for a CANmsg object, which is a superclass of CANMessage
00062     ///
00063     /// The CANmsg object included additional information, including
00064     /// direction, channel number, timestamp, and the ability to format
00065     /// into ASCII.
00066     /// @param ch is the channel number (CH1, CH2)
00067     /// @param dir is the direction (xmt, rcv)
00068     /// @param msg is a CANMessage object from which to construct this object
00069     ///
00070     CANmsg(CANCHANNEL_T ch, CANDIR_T dir, CANMessage msg);
00071     
00072     /// Constructor for a CANmsg object, which is a superclass of CANMessage
00073     /// 
00074     /// The CANmsg object included additional information, including
00075     /// direction, channel number, timestamp, and the ability to format
00076     /// into ASCII.
00077     /// This constructor creates a message from an ascii buffer with
00078     /// the standard message format in it.
00079     ///
00080     /// @todo Improve the parser, it may not handle malformed input well
00081     ///
00082     /// @verbatim
00083     /// t xtd 02 1CF00400 08 11 22 33 44 55 66 77 88 0   0 1234.567890
00084     /// If the first letter is not 't' or 'r', transmit is assumed
00085     ///   xtd 02 1CF00400 08 11 22 33 44 55 66 77 88 0   0 1234.567890
00086     /// @endverbatim
00087     ///
00088     /// @param p is a pointer to a text string of the message contents,
00089     ///        in the same format as what would be output with the 
00090     ///        FormatCANMessage method.
00091     ///
00092     CANmsg(char *p);
00093         
00094     /// Destructor for the CANmsg object
00095     ~CANmsg();
00096     
00097     /// Parse a text string into the CANmsg object, which is a superclass of CANMessage
00098     ///
00099     /// The CANmsg object included additional information, including
00100     /// direction, channel number, timestamp, and the ability to format
00101     /// into ASCII.
00102     /// This constructor creates a message from an ascii buffer with
00103     /// the standard message format in it.
00104     ///
00105     /// @todo Improve the parser, it may not handle malformed input well
00106     ///
00107     /// @verbatim
00108     /// t xtd 02 1CF00400 08 11 22 33 44 55 66 77 88 0   0 1234.567890
00109     /// If the first letter is not 't' or 'r', transmit is assumed
00110     ///   xtd 02 1CF00400 08 11 22 33 44 55 66 77 88 0   0 1234.567890
00111     /// @endverbatim
00112     ///
00113     /// @param p is a pointer to a text string of the message contents,
00114     ///        in the same format as what would be output with the 
00115     ///        FormatCANMessage method.
00116     /// @returns true
00117     ///
00118     bool ParseCANMessage(char *p);
00119 
00120     /// Formats this CAN message into a text buffer - which should be at least 70
00121     ///
00122     /// @todo buflen is currently ignored, which is unsafe
00123     ///
00124     /// @verbatim
00125     /// t xtd 02 1CF00400 08 11 22 33 44 55 66 77 88 0   0 1234.567890
00126     /// @endverbatim
00127     ///
00128     /// @param buffer is a pointer to the buffer to fill
00129     /// @param buflen is the size of the buffer (minimum 70 recommended)
00130     /// 
00131     /// @returns nothing
00132     void FormatCANMessage(char *buffer, int buflen);
00133     
00134     /// Overrides the timestamp in this message with the current time
00135     void SetTimestamp();
00136     
00137     /// Gets the timestamp of this message
00138     /// @returns time in microseconds
00139     uint64_t GetTimestamp() { return timestamp; };
00140     
00141     /// direction of this CAN message - rcv or xmt
00142     CANDIR_T dir;
00143 
00144     /// channel number of this CAN message
00145     CANCHANNEL_T ch;
00146 
00147 private:
00148     /// internally held timestamp
00149     uint64_t timestamp;
00150     
00151     // internally held mode
00152     //CANMODE_T mode;
00153 };
00154 
00155 #endif // CANMESSAGE_H