An OS and hardware independent virtual CAN interface driver for testing purposes. More...

#include <virtual_can_plugin.hpp>

Inheritance diagram for isobus::VirtualCANPlugin:

Collaboration diagram for isobus::VirtualCANPlugin:

Classes
struct	VirtualDevice
	A struct holding information about a virtual CAN device. More...

Public Member Functions
	VirtualCANPlugin (const std::string channel="", const bool receiveOwnMessages=false)
	Constructor for the virtual CAN driver.

virtual	~VirtualCANPlugin ()
	Destructor for the virtual CAN driver.

bool	get_is_valid () const override
	Returns if the socket connection is valid.

std::string	get_channel_name () const
	Returns the assigned virtual channel name.

void	close () override
	Closes the socket.

void	open () override
	Connects to the socket.

bool	read_frame (isobus::CANMessageFrame &canFrame) override
	Returns a frame from the hardware (synchronous), or `false` if no frame can be read. Times out after 1 second.

bool	read_frame (isobus::CANMessageFrame &canFrame, std::uint32_t timeout) const
	Returns a frame from the hardware (synchronous), or `false` if no frame can be read.

bool	write_frame (const isobus::CANMessageFrame &canFrame) override
	Writes a frame to the bus (synchronous)

void	write_frame_as_if_received (const isobus::CANMessageFrame &canFrame) const
	Allows us to write messages as if we received them from the bus.

bool	get_queue_empty () const
	Returns if the internal received message queue is empty or not.

void	clear_queue () const
	Clear the internal received message queue.

Private Attributes
const std::string	channel
	The virtual channel name.

const bool	receiveOwnMessages
	If `true`, the driver will receive its own messages.

std::shared_ptr< VirtualDevice >	ourDevice
	A pointer to the virtual device of this instance.

std::atomic_bool	running
	If `true`, the driver is running.

Static Private Attributes
static constexpr size_t	MAX_QUEUE_SIZE = 1000
	The maximum size of the queue, mostly arbitrary.

static std::mutex	mutex
	Mutex to access channels and queues for thread safety.

static std::map< std::string, std::vector< std::shared_ptr< VirtualDevice > > >	channels
	A channel is a vector of devices.

Detailed Description

An OS and hardware independent virtual CAN interface driver for testing purposes.

Any instance connecting to the same channel and in the same process can communicate. However, this plugin does not implement rate limiting or any other CAN bus specific features, like prioritization under heavy load.

Definition at line 35 of file virtual_can_plugin.hpp.

Constructor & Destructor Documentation

◆ VirtualCANPlugin()

isobus::VirtualCANPlugin::VirtualCANPlugin	(	const std::string	channel = "",
		const bool	receiveOwnMessages = false )

Constructor for the virtual CAN driver.

Parameters

[in]	channel	The virtual channel name to use. Free to choose.
[in]	receiveOwnMessages	If `true`, the driver will receive its own messages.

Definition at line 16 of file virtual_can_plugin.cpp.

◆ ~VirtualCANPlugin()

isobus::VirtualCANPlugin::~VirtualCANPlugin ( )

virtual

Destructor for the virtual CAN driver.

Definition at line 25 of file virtual_can_plugin.cpp.

Member Function Documentation

◆ clear_queue()

void isobus::VirtualCANPlugin::clear_queue ( ) const

Clear the internal received message queue.

Definition at line 103 of file virtual_can_plugin.cpp.

◆ close()

void isobus::VirtualCANPlugin::close ( )

overridevirtual

Closes the socket.

Implements isobus::CANHardwarePlugin.

Definition at line 47 of file virtual_can_plugin.cpp.

◆ get_channel_name()

std::string isobus::VirtualCANPlugin::get_channel_name ( ) const

Returns the assigned virtual channel name.

Returns: The virtual channel name the bus is assigned to

Definition at line 37 of file virtual_can_plugin.cpp.

◆ get_is_valid()

bool isobus::VirtualCANPlugin::get_is_valid ( ) const

overridevirtual

Returns if the socket connection is valid.

Returns: true if connected, false if not connected

Implements isobus::CANHardwarePlugin.

Definition at line 32 of file virtual_can_plugin.cpp.

◆ get_queue_empty()

bool isobus::VirtualCANPlugin::get_queue_empty ( ) const

Returns if the internal received message queue is empty or not.

Returns: true if the internal received message queue is empty, otherwise false

Definition at line 97 of file virtual_can_plugin.cpp.

◆ open()

void isobus::VirtualCANPlugin::open ( )

overridevirtual

Connects to the socket.

Implements isobus::CANHardwarePlugin.

Definition at line 42 of file virtual_can_plugin.cpp.

◆ read_frame() [1/2]

bool isobus::VirtualCANPlugin::read_frame ( isobus::CANMessageFrame & canFrame )

overridevirtual

Returns a frame from the hardware (synchronous), or false if no frame can be read. Times out after 1 second.

Parameters

[in,out] canFrame The CAN frame that was read

Returns: true if a CAN frame was read, otherwise false

Implements isobus::CANHardwarePlugin.

Definition at line 79 of file virtual_can_plugin.cpp.

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◆ read_frame() [2/2]

bool isobus::VirtualCANPlugin::read_frame	(	isobus::CANMessageFrame &	canFrame,
		std::uint32_t	timeout ) const

Returns a frame from the hardware (synchronous), or false if no frame can be read.

Parameters

[in,out]	canFrame	The CAN frame that was read
[in]	timeout	The timeout in milliseconds

Returns: true if a CAN frame was read, otherwise false

Definition at line 84 of file virtual_can_plugin.cpp.

◆ write_frame()

bool isobus::VirtualCANPlugin::write_frame ( const isobus::CANMessageFrame & canFrame )

overridevirtual

Writes a frame to the bus (synchronous)

Parameters

[in] canFrame The frame to write to the bus

Returns: true if the frame was written, otherwise false

Implements isobus::CANHardwarePlugin.

Definition at line 53 of file virtual_can_plugin.cpp.

◆ write_frame_as_if_received()

void isobus::VirtualCANPlugin::write_frame_as_if_received ( const isobus::CANMessageFrame & canFrame ) const

Allows us to write messages as if we received them from the bus.

Parameters

[in] canFrame The frame to write to the bus

Definition at line 72 of file virtual_can_plugin.cpp.

Member Data Documentation

◆ channel

const std::string isobus::VirtualCANPlugin::channel

private

The virtual channel name.

Definition at line 100 of file virtual_can_plugin.hpp.

◆ channels

std::map< std::string, std::vector< std::shared_ptr< VirtualCANPlugin::VirtualDevice > > > isobus::VirtualCANPlugin::channels

staticprivate

A channel is a vector of devices.

Definition at line 98 of file virtual_can_plugin.hpp.

◆ MAX_QUEUE_SIZE

constexpr size_t isobus::VirtualCANPlugin::MAX_QUEUE_SIZE = 1000

staticconstexprprivate

The maximum size of the queue, mostly arbitrary.

Definition at line 95 of file virtual_can_plugin.hpp.

◆ mutex

std::mutex isobus::VirtualCANPlugin::mutex

staticprivate

Mutex to access channels and queues for thread safety.

Definition at line 97 of file virtual_can_plugin.hpp.

◆ ourDevice

std::shared_ptr<VirtualDevice> isobus::VirtualCANPlugin::ourDevice

private

A pointer to the virtual device of this instance.

Definition at line 103 of file virtual_can_plugin.hpp.

◆ receiveOwnMessages

const bool isobus::VirtualCANPlugin::receiveOwnMessages

private

If true, the driver will receive its own messages.

Definition at line 101 of file virtual_can_plugin.hpp.

◆ running

std::atomic_bool isobus::VirtualCANPlugin::running

private

If true, the driver is running.

Definition at line 104 of file virtual_can_plugin.hpp.

The documentation for this class was generated from the following files:

hardware_integration/include/isobus/hardware_integration/virtual_can_plugin.hpp
hardware_integration/src/virtual_can_plugin.cpp

Classes

Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VirtualCANPlugin()

◆ ~VirtualCANPlugin()

Member Function Documentation

◆ clear_queue()

◆ close()

◆ get_channel_name()

◆ get_is_valid()

◆ get_queue_empty()

◆ open()

◆ read_frame() [1/2]

◆ read_frame() [2/2]

◆ write_frame()

◆ write_frame_as_if_received()

Member Data Documentation

◆ channel

◆ channels

◆ MAX_QUEUE_SIZE

◆ mutex

◆ ourDevice

◆ receiveOwnMessages

◆ running