Utilities.h

Go to the documentation of this file.

#ifndef CARMA_CANBUS_UTILITIES_H
#define CARMA_CANBUS_UTILITIES_H

// C++ Standard Library includes 
#include <vector>

// Carma includes
#include "carma/canbus/Types.h"

namespace carma {

    namespace canbus {

        // CAN Id Utilities.

        modeType getMode(idType id);

        bool isToHost(idType id);

        const bool TO_HOST = true;

        const bool TO_NODES = false;

        idType createId(bool host, apiType api, nodeType node, msgType mid);

        idType createEngId(bool host, boardType board, 
                serialNumberType serialNumber, msgType mid);

        void fromId(apiType &api, nodeType &node, 
                msgType &mid, idType id);

        void fromEngId(boardType &bt, serialNumberType &sn, 
                msgType &mid, idType engId);

        // CAN data utilities...
        // The toData and dataTo routines correspond to the basic
        // CAN data types that will be used and are defined in the hardware
        // APIs...  The names reflect the corresponding C basic data types.

        void uByteToData(std::vector<byteType> &data, unsigned char value);

        void uShortToData(std::vector<byteType> &data, unsigned short value);

        void uLongToData(std::vector<byteType> &data, unsigned long value);

        void sShortToData(std::vector<byteType> &data, short value);

        void sLongToData(std::vector<byteType> &data, long value);

        void floatToData(std::vector<byteType> &data, float value);

        void doubleToData(std::vector<byteType> &data, double value);

        unsigned char dataToUbyte(std::vector<byteType> &data);

        unsigned short dataToUshort(std::vector<byteType> &data);

        unsigned long dataToUlong(std::vector<byteType> &data);

        short dataToShort(std::vector<byteType> &data);

        long dataToLong(std::vector<byteType> &data);

        float dataToFloat(std::vector<byteType> &data);

        double dataToDouble(std::vector<byteType> &data);

        void padWithZeros(std::vector<byteType> &data);

        // Timing routines 
        // Useful for sleeping and waking on 1/2 second boundaries
        // or Slow monitor boundaries (5 second).

        timespec calculateTimeToNextSlowBoundary();

        timespec calculateTimeToNextHalfSec();

        busIdType extractBusId(std::string filename);

        int validateModulbusNo(int modulbusNo);

        int validateSlotNo(int slotNo);

    }; // namespace canbus 
}; // namespace carma
#endif // CARMA_CANBUS_UTILITIES_H