Types.h

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#ifndef CARMA_CANBUS_TYPES_H
#define CARMA_CANBUS_TYPES_H

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

namespace carma {
namespace canbus {
        
    typedef unsigned int idType; 
    typedef unsigned char byteType; 
        typedef unsigned short portType; 
        typedef unsigned short apiType; 
        typedef unsigned short boardType; 
    typedef unsigned short nodeType; 
        typedef unsigned short serialNumberType; 
    typedef unsigned int keyType; 
        typedef unsigned short msgType;  
    typedef unsigned short busIdType; 
    typedef ::std::vector< ::carma::canbus::byteType> DataVector; 
    typedef ::std::map< ::carma::canbus::msgType, ::std::string > MsgBriefMap;
    
    const apiType DUMMY_PKT_API = 0xFF;

    const msgType DUMMY_PKT_MID    = 0x3FF;

    const busIdType ALL_BUSSES = 0xffff;
    
    typedef enum modeTypeEnum {
                ENGINEERING = 1,  
                APPLICATION = 0,  
        } modeType;
        
        typedef enum busStateEnum {
        NO_ERRORS = 0,             
            ERROR_ACTIVE = 1,          
            ERROR_PASSIVE = 2,         
            BUS_OFF = 3,               
    } busStateType;

        typedef struct busStatusStruct {
                busStateType state;            
        volatile double rxMsgRate;    
        volatile double txMsgRate;   
        volatile double oneMinRxMsgRate; 
        volatile double oneMinTxMsgRate; 
                volatile unsigned short rxErrors; 
                volatile unsigned short txErrors; 
                volatile unsigned int slowMsgsLost;
                volatile unsigned int fastMsgsLost; 
        
        volatile int tsEchoLatency;
        } busStatusType;
            
    typedef std::map< busIdType, busStatusType > BusStatusMap;

    typedef enum deviceStateEnum {
        OFFLINE, 
        STARTING,
        ONLINE,
        SIMULATED,
    } deviceStateType;

    typedef enum {
        HIGH    = 1,
        NORMAL  = 2,
        LOW     = 3,
    } txPriorityType;

    // Useful constants.
    const int NANOSECS_PER_SEC = 1000000000;

    // IPQ name string constants.  The CAN_INPUT_IPQ is the name
    // of the ipq that will be written by DirectCan, read from CanIo
    // and rewritten to the CANbus.  The CAN_OUTPUT_IPQ is the name
    // of the ipq that will be read by DirectCan, written to by 
    // CanIo with messages read from the CANbus.
    const std::string CAN_INPUT_IPQ = "/can-input.ipq";  
    const std::string CAN_OUTPUT_IPQ = "/can-output.ipq";
    // The IPQ is very large in order to accomodate an entire remote firmware
    // upload (roughly 40,000 messages and 3x as many dummy packets).  This 
    // allows us to very rapidly download firmware.
    const long IPQ_BUFFER_SIZE = 150000;  
} // namespace canbus
} // namespace carma
#endif