CanService.h

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//  Copyright (C) Sven Rosvall (sven@rosvall.ie)
//  This file is part of VLCB-Arduino project on https://github.com/SvenRosvall/VLCB-Arduino
//  Licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
//  The full licence can be found at: http://creativecommons.org/licenses/by-nc-sa/4.0
 
#pragma once
 
#include "Service.h"
#include "CanTransport.h"
#include <vlcbdefs.hpp>
 
namespace VLCB
{
 
struct VlcbMessage;

class CanService : public Service
{
 
public:
  CanService(CanTransport * tpt) : canTransport(tpt) {}

  virtual VlcbServiceTypes getServiceID() const override { return SERVICE_ID_CAN; }
  virtual byte getServiceVersionID() const override { return 2; }
  virtual Data getServiceData();
 
  virtual void process() override;
  virtual void processAction(const Action &action) override;
 
protected:
  CanTransport * canTransport;
 
private:
  void handleCanServiceMessage(const VlcbMessage *msg);
  void handleEnumeration(unsigned int nn);
  void handleSetCANID(const VlcbMessage *msg, unsigned int nn);
 
  bool sendMessage(const VlcbMessage *msg);
  bool sendRtrFrame();
  bool sendEmptyFrame(bool rtr = false);
  bool sendCanFrame(CANFrame *msg) { return canTransport->sendCanFrame(msg); }
  void startCANenumeration(bool fromENUM = false);
 
  void checkIncomingCanFrame();
  void checkCANenumTimout();
  byte findFreeCanId();
 
  bool enumeration_required = false;
  bool bCANenum = false;
  bool startedFromEnumMessage = false;
  unsigned long CANenumTime;
  byte enum_responses[16];     // 128 bits for storing CAN ID enumeration results
};
 
}