CanProtobuf.hpp File Reference
Exchange Protobuf messages over CAN module. More...
Detailed Description
Exchange Protobuf messages over CAN module.
This module provides a class that controls an CAN to send and receive Protobuf messages using EmbbededProto. Each library/application using canpb must define a unique id (32-bit integer of type cogip::canpb::uuid_t) and registrer a callback function to send or receive their own messages. See examples/canb.
Definition in file CanProtobuf.hpp.
#include "etl/delegate.h"#include <mutex.h>#include "can/conn/raw.h"#include "periph/can.h"#include "ringbuffer.h"#include "thread.h"#include "etl/map.h"#include "canpb/canpb.hpp"#include "canpb/ReadBuffer.hpp"#include "canpb/WriteBuffer.hpp"#include "MessageInterface.h"
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Data Structures | |
| class | cogip::canpb::CanProtobuf |
| Generic CAN Protobuf communication class. More... | |
Namespaces | |
| cogip | |
| Differential drive controller. | |
Typedefs | |
| using | cogip::canpb::uuid_t = uint32_t |
| Custom type for uuids. | |
| using | cogip::canpb::message_handler_t = etl::delegate< void(cogip::canpb::ReadBuffer &)> |
| Prototype for incoming Protobuf message handlers. | |
Functions | |
| void * | cogip::canpb::message_reader_wrapper (void *arg) |
| Thread function decoding incoming Protobuf messages. More... | |
| #define | CAN_BUFFER_SIZE CANPB_INPUT_MESSAGE_LENGTH_MAX*2 |
Function Documentation
◆ message_reader_wrapper()
| void* cogip::canpb::message_reader_wrapper | ( | void * | arg | ) |
Thread function decoding incoming Protobuf messages.
This wrapper is used to call the message_reader() function from CanProtobuf class from C context, passing the CanProtobuf instance pointer as first parameter.
- Parameters
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[in] arg [in] pointer to CanProtobuf instance
