io_context.hpp

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#ifndef LELY_COAPP_IO_CONTEXT_HPP_
#define LELY_COAPP_IO_CONTEXT_HPP_
 
#include <lely/aio/can_bus.hpp>
#include <lely/aio/timer.hpp>
#include <lely/coapp/coapp.hpp>
 
#include <memory>
 
namespace lely {
 
// The CAN network interface from <lely/can/net.hpp>.
class CANNet;
 
namespace canopen {

class IoContext {
 public:
  using CanState = aio::CanBus::State;
  using CanError = aio::CanBus::Error;

  IoContext(aio::TimerBase& timer, aio::CanBusBase& bus,
            BasicLockable* mutex = nullptr);
 
  IoContext(const IoContext&) = delete;
  IoContext& operator=(const IoContext&) = delete;

  aio::ExecutorBase GetExecutor() const noexcept;

  template <class F>
  void
  Post(F&& f) {
    auto* op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) f();
    });
    GetExecutor().Post(*op);
  }
 
 protected:
  ~IoContext();

  CANNet* net() const noexcept;

  void SetTime();
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 private:
#endif
  virtual void
  OnCanState(CanState new_state, CanState old_state) noexcept {
    (void)new_state;
    (void)old_state;
  }

  virtual void
  OnCanError(CanError error) noexcept {
    (void)error;
  }
 
 private:
  struct Impl_;
  ::std::unique_ptr<Impl_> impl_;
};
 
}  // namespace canopen
 
}  // namespace lely
 
#endif  // LELY_COAPP_IO_CONTEXT_HPP_