virtual_can_plugin.hpp

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//================================================================================================
//================================================================================================
#ifndef VIRTUAL_CAN_PLUGIN_HPP
#define VIRTUAL_CAN_PLUGIN_HPP
 
#include "isobus/hardware_integration/can_hardware_plugin.hpp"
#include "isobus/isobus/can_hardware_abstraction.hpp"
#include "isobus/isobus/can_message_frame.hpp"
 
#include <atomic>
#include <condition_variable>
#include <deque>
#include <map>
#include <mutex>
#include <string>
#include <vector>
 
namespace isobus
{
    //================================================================================================
    //================================================================================================
    class VirtualCANPlugin : public CANHardwarePlugin
    {
    public:
        VirtualCANPlugin(const std::string channel = "", const bool receiveOwnMessages = false);
 
        virtual ~VirtualCANPlugin();
 
        bool get_is_valid() const override;
 
        std::string get_channel_name() const;
 
        void close() override;
 
        void open() override;
 
        bool read_frame(isobus::CANMessageFrame &canFrame) override;
 
        bool read_frame(isobus::CANMessageFrame &canFrame, std::uint32_t timeout) const;
 
        bool write_frame(const isobus::CANMessageFrame &canFrame) override;
 
        void write_frame_as_if_received(const isobus::CANMessageFrame &canFrame) const;
 
        bool get_queue_empty() const;
 
        void clear_queue() const;
 
    private:
        struct VirtualDevice
        {
            std::deque<isobus::CANMessageFrame> queue; 
            std::condition_variable condition; 
        };
 
        static constexpr size_t MAX_QUEUE_SIZE = 1000; 
 
        static std::mutex mutex; 
        static std::map<std::string, std::vector<std::shared_ptr<VirtualDevice>>> channels; 
 
        const std::string channel; 
        const bool receiveOwnMessages; 
 
        std::shared_ptr<VirtualDevice> ourDevice; 
        std::atomic_bool running; 
    };
}
#endif // VIRTUAL_CAN_PLUGIN_HPP