CanAdapter.hpp

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#pragma once
 
#include <array>
#include <cstdint>
#include <span>
 
#include "corium/EventSink.hpp"
#include "corium/policies/QueuePolicies.hpp"
 
namespace corium::embedded {
 
struct CanFrame {
    uint32_t id{0};               
    uint8_t dlc{0};               
    bool isExtended{false};       
    bool isRtr{false};            
    std::array<uint8_t, 8> data{}; 
 
    [[nodiscard]] std::span<const uint8_t> payload() const noexcept {
        return {data.data(), static_cast<std::size_t>(dlc > 8 ? 8 : dlc)};
    }
};
 
struct CanFdFrame {
    uint32_t id{0};                
    uint8_t len{0};                
    bool isExtended{false};        
    bool bitRateSwitch{false};     
    bool errorStateIndicator{false}; 
    std::array<uint8_t, 64> data{}; 
 
    [[nodiscard]] std::span<const uint8_t> payload() const noexcept {
        return {data.data(), static_cast<std::size_t>(len > 64 ? 64 : len)};
    }
};
 
template <typename EventVariant>
class CanIsrAdapter {
public:
    explicit CanIsrAdapter(EventSinkT<EventVariant> sink) noexcept
        : _sink(sink)
    {}
 
    template <typename TargetEvent = CanFrame>
    void postFromIsr(const CanFrame& frame, EventPriority priority = EventPriority::Normal) noexcept {
        if constexpr (std::is_same_v<TargetEvent, CanFrame>) {
            _sink.post(EventVariant{frame}, priority);
        } else {
            _sink.post(EventVariant{TargetEvent{frame}}, priority);
        }
    }
 
    template <typename TargetEvent = CanFdFrame>
    void postFromIsr(const CanFdFrame& frame, EventPriority priority = EventPriority::Normal) noexcept {
        if constexpr (std::is_same_v<TargetEvent, CanFdFrame>) {
            _sink.post(EventVariant{frame}, priority);
        } else {
            _sink.post(EventVariant{TargetEvent{frame}}, priority);
        }
    }
 
private:
    EventSinkT<EventVariant> _sink;
};
 
} // namespace corium::embedded