CANPlugin.h

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#ifndef DW_SENSORS_CAN_PLUGIN_H
#define DW_SENSORS_CAN_PLUGIN_H

#include <dw/sensors/plugins/SensorCommonPlugin.h>
#include <dw/sensors/canbus/CAN.h>

#ifdef __cplusplus
extern "C" {
#endif

//readRawData should return always a dwCANMessage

typedef dwStatus (*dwSensorCANPlugin_clearFilter)(dwSensorPluginSensorHandle_t sensor);

typedef dwStatus (*dwSensorCANPlugin_setFilter)(const uint32_t* canIDs, const uint32_t* masks, uint16_t numCanIDs, dwSensorPluginSensorHandle_t sensor);

typedef dwStatus (*dwSensorCANPlugin_setUseHwTimestamps)(bool use, dwSensorPluginSensorHandle_t sensor);

typedef dwStatus (*dwSensorCANPlugin_send)(const dwCANMessage* msg, dwTime_t timeout_us, dwSensorPluginSensorHandle_t sensor);

typedef dwStatus (*dwSensorCANPlugin_parseDataBuffer)(dwCANMessage* output,
                                                      dwSensorPluginSensorHandle_t sensor);

typedef struct
{
    dwSensorCommonPluginFunctions common;
    dwSensorCANPlugin_clearFilter clearFilter;
    dwSensorCANPlugin_setFilter setFilter;
    dwSensorCANPlugin_setUseHwTimestamps setUseHwTimestamps;
    dwSensorCANPlugin_send send;
    dwSensorCANPlugin_parseDataBuffer parseDataBuffer;
} dwSensorCANPluginFunctionTable;

dwStatus dwSensorCANPlugin_getFunctionTable(dwSensorCANPluginFunctionTable* functions);

#ifdef __cplusplus
}
#endif

#endif