SocketCan.h

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#ifndef CARMA_CANBUS_SOCKETCAN_H
#define CARMA_CANBUS_SOCKETCAN_H

#include "carma/canbus/CanIo.h"
#include "carma/canbus/Message.h"
#include "carma/canbus/Types.h"

#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <vector>

namespace carma {
namespace canbus {

class SocketCan : public carma::canbus::CanIo {
public:

    SocketCan( );

    explicit SocketCan( const ::std::vector< ::std::string > & canInterfaces );

    virtual ~SocketCan( );

    carma::canbus::Message getMessage( );

    void postMessage( const carma::canbus::Message & msg,
                      carma::canbus::txPriorityType p = carma::canbus::NORMAL );

    BusStatusMap getBusStatus() const;

    void echoAll( bool enable ); 

    static busIdType parseBusId( const std::string & canInterfaceName );

protected:

    // No protected methods.

private:

    void 
    commonConstruction( const ::std::vector< ::std::string > & canInterfaces );

    void updateThread( ); // Update bus statistics.

    struct BusInfo {
        const ::std::string name;  
        const busIdType id;        
        const int wsfd;            
        int rxCount;               
        int txCount;               
        int oneMinRxCount;         
        int oneMinTxCount;         
        double lastUpdateMJD;      
        double lastOneMinUpdateMJD; 
        carma::canbus::busStatusType status; 
        BusInfo( const ::std::string & name,
                 const busIdType id,
                 const int wsfd );

        void updateBusStatus( );

    };

    ::std::vector< int > fileDescriptors_;
    int maxFileDescriptor_;

    typedef ::std::map< int, BusInfo > BusInfoMap; // Indexed by interface index
    typedef ::std::map< int, int > BusIdToInterfaceMap;

    BusInfoMap busses_; 
    BusIdToInterfaceMap busIdToIf_;

    mutable boost::mutex mutex_;
    boost::thread updateThread_;

}; // class SocketCan

} } // namespace carma::canbus
#endif