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_