can.h

/*
 Author: Matt Bunting
 Copyright (c) 2020 Arizona Board of Regents
 All rights reserved.

 Permission is hereby granted, without written agreement and without
 license or royalty fees, to use, copy, modify, and distribute this
 software and its documentation for any purpose, provided that the
 above copyright notice and the following two paragraphs appear in
 all copies of this software.

 IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
 FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
 ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
 IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF
 SUCH DAMAGE.

 THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
 INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
 AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
 IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION
 TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

 */

#ifndef PANDA_CAN_H
#define PANDA_CAN_H

#include <fstream>
#include <list>
#include <vector>

#include "mogi/thread.h"

#include "panda/usb.h"
#include "panda/candata.h"

namespace Panda {

    CanFrame bufferToCanFrame( char* buffer, int bufferLength);

    void canFrameToBuffer( CanFrame& frame, unsigned char* buffer);

    class Can;

    class CanListener {
    private:
        friend class Can;
        
        std::vector<int> blacklistBus;
        std::vector<int> blacklistId;
    protected:
        virtual void newDataNotification(CanFrame* canFrame) = 0;
        
        void newDataNotificationProxy(CanFrame* canFrame);

    public:
        virtual ~CanListener() { };
        
        void addToBlacklistBus( const int& busToBlock );
        
        
        void addToBlacklistMessageId( const int& idToBlock );
        
    };

    class Can : protected Mogi::Thread, public UsbListener {
    public:
        Can();
        ~Can();

        void initialize();  // needs USB device

        void saveToFile(const char* filename);

        void saveToCsvFile(const char* filename);

        void setUsb( Panda::Usb* usbHandler );

        void addObserver( CanListener* listener );
        
        void removeObserver( CanListener* listener );

        void startParsing();

        void stopParsing();

        void sendMessage( CanFrame& frame );

    private:
        bool currentlyReceiving = false;
        
        std::list<CanFrame> canFrames;

        std::vector<CanListener*> listeners;
        Usb* usbHandler = NULL;

        FILE* canDump;
        FILE* csvDump;

        void writeCsvToFile(CanFrame* frame, unsigned char* buffer, int bufLength);
        void writeRawToFile(char* buffer, size_t length);

        // Overload frum UsbListener
        void notificationCanRead(char* buffer, size_t bufferLength);

        // Overload from Mogi::Thread
        void doAction();
    };

}

#endif