c4bdf122a8
delete mprpc move can frame to it's own library create CANID type (better extended id support) rework database format, only uses name + json now busEvent and rawJsonEvent don't store the Id anymore
66 lines
1.7 KiB
Go
66 lines
1.7 KiB
Go
// Package can provides generic CAN interfaces and types.
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//
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// It has a generic can Frame (packet), as well as a filter type.
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// we also define standard interfaces for objects that can accept
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// can frames. We can use this pattern to easily extend the capabilities of the program
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// by writing "adapters" to various devices/formats (xbee, socketcan)
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package can
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type CanID struct {
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Id uint32
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Extended bool // since the id itself is not enough.
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}
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// Frame represents a protocol-agnostic CAN frame. The Id can be standard or extended,
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// but if it is extended, the Kind should be EFF.
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type Frame struct {
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Id CanID
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Data []byte
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Kind Kind
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}
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// TODO: should this be replaced
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type CANFrame interface {
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Id()
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Data() []byte
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Type() Kind
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}
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//go:generate stringer -output=frame_kind.go -type Kind
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// Kind is the type of the can Frame
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type Kind uint8
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const (
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CanDataFrame Kind = iota // Standard ID Frame
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CanRTRFrame // Remote Transmission Request Frame
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CanErrFrame // Error Frame
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)
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// CanFilter is a basic filter for masking out data. It has an Inverted flag
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// which indicates opposite behavior (reject all packets that match Id and Mask).
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// The filter matches when (packet.Id & filter.Mask) == filter.Id
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// TODO: is this needed anymore since we are using firmware based version instead?
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type CanFilter struct {
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Id uint32
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Mask uint32
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Inverted bool
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}
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// CanSink is an object that can accept Frames to transmit.
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type CanSink interface {
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Send(*Frame) error
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}
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// CanSource is an object that can receive Frames.
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type CanSource interface {
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Recv() (*Frame, error)
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}
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// CanTransciever is an object that can both send and receive Frames.
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type CanTransciever interface {
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CanSink
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CanSource
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}
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