Diff: ExampleCanProtocol.h

Revision:

1:7cf308c1484d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ExampleCanProtocol.h	Mon Nov 07 02:16:45 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef EXAMPLE_CAN_PROTOCOL_H
+#define EXAMPLE_CAN_PROTOCOL_H
+
+#include "CanPipe.h"
+
+/** example protocol class */
+class ExampleCanProtocol {
+    int adder_;
+    CanPipe* p_can_pipe_;
+public:
+    ExampleCanProtocol(): adder_(0)
+    {}
+
+    int adder_cb(CANMessage &msg) { 
+        adder_ += msg.data[0];
+        printf("   ExampleCanProtocol::adder_cb - %d\r\n", adder_);
+        return CanPipe::kOkay; 
+    }
+    
+    int echo_cb(CANMessage &msg) {        
+        CANMessage response(msg.id + 0x100);
+        response.len = msg.len;
+        response.format = CANStandard;
+        response.type = CANData;
+        memcpy(response.data, msg.data, msg.len);
+        p_can_pipe_->PostMessage(response);
+        
+        printf("   ExampleCanProtocol::echo_cb \r\n");
+        for (int i = 0; i < msg.len; ++i) {
+            printf("      %d - 0x%02X\r\n", i, msg.data[i]);
+        }
+        return CanPipe::kOkay; 
+    }
+    
+    void RegisterProtocols(CanPipe &can_pipe) {
+        p_can_pipe_ = &can_pipe;
+        
+        int handle;
+        
+        handle = p_can_pipe_->RegisterFilter(0x400, 0x7ff, CANAny, 3);
+        p_can_pipe_->RegisterCallback<ExampleCanProtocol>(this, &ExampleCanProtocol::adder_cb, handle);
+        
+        handle = p_can_pipe_->RegisterFilter(0x500, 0x700, CANAny, 2);
+        p_can_pipe_->RegisterCallback<ExampleCanProtocol>(this, &ExampleCanProtocol::echo_cb, handle);
+    }
+};
+
+#endif /* EXAMPLE_CAN_PROTOCOL_H */