File: src/raw.h
/* Copyright Sebastian Haas <sebastian@sebastianhaas.info>. All rights reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to
* deal in the Software without restriction, including without limitation the
* rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
* sell copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
* IN THE SOFTWARE.
*/
#include <vector>
#include <string>
#include <v8.h>
#include <node.h>
#include <pthread.h>
#include <linux/can.h>
using namespace node;
using namespace v8;
using namespace std;
#define DEFINE_ASYNC_CB(CLASS, func) static void func##_cb(uv_async_t* handle, int status)\
{\
assert(handle);\
assert(handle->data);\
reinterpret_cast<CLASS *>(handle->data)-> func (status);\
}\
void func(int status);
#define CHECK_CONDITION(expr, str) if(! (expr) ) return ThrowException(Exception::Error(String::New(str)));
/**
* Basic CAN access
* @module CAN
*/
//-----------------------------------------------------------------------------------------
/**
* A Raw channel to access a certain CAN channel (e.g. vcan0) via CAN messages.
* @class RawChannel
*/
class RawChannel : ObjectWrap
{
public:
static Persistent<FunctionTemplate> s_ct;
static void Init(Handle<Object> target);
RawChannel(const char *name, bool timestamps = false);
~RawChannel();
/**
* Create a new CAN channel object
* @constructor RawChannel
* @param interface {string} interface name to create channel on (e.g. can0)
* @return new RawChannel object
*/
static Handle<Value> New(const Arguments& args);
/**
* Add listener to receive certain notifications
* @method addListener
* @param event {string} onMessage to register for incoming messages
* @param callback {any} JS callback object
* @param instance {any} Optional instance pointer to call callback
*/
static Handle<Value> AddListener(const Arguments& args);
/**
* Start operation on this CAN channel
* @method start
*/
static Handle<Value> Start(const Arguments& args);
/**
* Stop any operations on this CAN channel
* @method stop
*/
static Handle<Value> Stop(const Arguments& args);
/**
* Send a CAN message immediately
* @method send
* @param message {Object} JSON object describing the CAN message, keys are id, length, data {Buffer}, ext or rtr
*/
static Handle<Value> Send(const Arguments& args);
/**
* Set a list of active filters to be applied for incoming messages
* @method setRxFilters
* @param filters {Object} single filter or array of filter e.g. { id: 0x1ff, mask: 0x1ff, invert: false}, result of (id & mask)
*/
static Handle<Value> SetRxFilters(const Arguments& args);
// UV async callbacks
DEFINE_ASYNC_CB(RawChannel, async_receiver_ready);
static void * c_thread_entry(void *_this) { assert(_this); reinterpret_cast<RawChannel *>(_this)->ThreadEntry(); return NULL; }
void ThreadEntry();
bool IsValid() { return m_SocketFd >= 0; }
private:
uv_async_t m_AsyncReceiverReady;
struct listener {
Persistent<Object> handle;
Persistent<Function> callback;
};
vector<struct listener *> m_Listeners;
pthread_t m_Thread;
string m_Name;
int m_SocketFd;
struct sockaddr_can m_SocketAddr;
bool m_ThreadStopRequested;
bool m_TimestampsSupported;
};