ExampleCanProtocol.h

00001 #ifndef EXAMPLE_CAN_PROTOCOL_H
00002 #define EXAMPLE_CAN_PROTOCOL_H
00003 
00004 #include "CanPipe.h"
00005 
00006 /** example protocol class */
00007 class ExampleCanProtocol {
00008     int adder_;
00009     CanPipe* p_can_pipe_;
00010 public:
00011     ExampleCanProtocol(): adder_(0)
00012     {}
00013 
00014     int adder_cb(CANMessage &msg) { 
00015         adder_ += msg.data[0];
00016         printf("   ExampleCanProtocol::adder_cb - %d\r\n", adder_);
00017         return CanPipe::kOkay; 
00018     }
00019     
00020     int echo_cb(CANMessage &msg) {        
00021         CANMessage response(msg.id + 0x100);
00022         response.len = msg.len;
00023         response.format = CANStandard;
00024         response.type = CANData;
00025         memcpy(response.data, msg.data, msg.len);
00026         p_can_pipe_->PostMessage(response);
00027         
00028         printf("   ExampleCanProtocol::echo_cb \r\n");
00029         for (int i = 0; i < msg.len; ++i) {
00030             printf("      %d - 0x%02X\r\n", i, msg.data[i]);
00031         }
00032         return CanPipe::kOkay; 
00033     }
00034     
00035     void RegisterProtocols(CanPipe &can_pipe) {
00036         p_can_pipe_ = &can_pipe;
00037         
00038         int handle;
00039         
00040         handle = p_can_pipe_->RegisterFilter(0x400, 0x7ff, CANAny, 3);
00041         p_can_pipe_->RegisterCallback<ExampleCanProtocol>(this, &ExampleCanProtocol::adder_cb, handle);
00042         
00043         handle = p_can_pipe_->RegisterFilter(0x500, 0x700, CANAny, 2);
00044         p_can_pipe_->RegisterCallback<ExampleCanProtocol>(this, &ExampleCanProtocol::echo_cb, handle);
00045     }
00046 };
00047 
00048 #endif /* EXAMPLE_CAN_PROTOCOL_H */