openvehicle-api/export/interfaces/can.idl

/**
* @file can.idl
* @author Erik Verhoeven FRD DISS2 (mailto:erik.verhoeven@zf.com)
* @brief This file provides the CAN abstraction interfaces
* @version 1.0
* @date 2024-02-07
*
* @copyright Copyright ZF Friedrichshafen AG (c) 2024
*
*/

#include "core.idl"

/**
* @brief Software Defined Vehicle framework.
*/
module sdv
{
    /**
    * @brief CAN abstraction interface.
    */
    module can
    {
        /**
         * @brief CAN message structure
         */
        struct SMessage
        {
            uint32          uiID;           ///< CAN ID
            boolean         bExtended;      ///< When set, the message ID is extended.
            boolean         bCanFd;         ///< When set, the message is of CAN-FD.
            sequence<uint8> seqData;        ///< The data for this message (max. 8 bytes for standard CAN and 64 bytes for CAN-FD).
        };

        /**
         * @brief Error enum
         */
        enum EError : uint32
        {
            no_error = 0,       ///< No error
            bit_error = 1,      ///< When the bit received is not the same as the bit transmitted.
            stuff_error = 2,    ///< If more than five consecutive bits of the same level occur on the bus.
            form_error = 3,     ///< Violation of fixed bit format.
            crc_error = 4,      ///< If the received CRC does not match with the calculated code.
            ack_error = 5,      ///< The transmitter does not receive a dominant acknowledgement bit in reply.
        };

        /**
         * @brief CAN error frame structure
         */
        struct SErrorFrame
        {
            uint32          uiID;       ///< CAN ID; could be 0 when the error is not referring to a specific ID.
            EError       eError;     ///< The error.
        };

        /**
        * @brief Interface to receive CAN messages; callback interface.
        */
        local interface IReceive
        {
            /**
             * @brief Process a receive a CAN message.
             * @param[in] sMsg Message that was received.
             * @param[in] uiIfcIndex Interface index of the received message.
             */
            void Receive(in SMessage sMsg, in uint32 uiIfcIndex);

            /**
             * @brief Process an error frame.
             * @param[in] sError Error frame that was received.
             * @param[in] uiIfcIndex Interface index of the received message.
            */
            void Error(in SErrorFrame sError, in uint32 uiIfcIndex);
        };

        /**
         * @brief Interface to register the CAN receiver.
         */
        local interface IRegisterReceiver
        {
            /**
             * @brief Register a CAN message receiver.
             * @param[in] pReceiver Pointer to the receiver interface.
             */
            void RegisterReceiver(in IReceive pReceiver);

            /**
             * @brief Unregister a previously registered CAN message receiver.
             * @param[in] pReceiver Pointer to the receiver interface.
             */
            void UnregisterReceiver(in IReceive pReceiver);
        };

        /**
         * @brief Interface to send CAN messagee.
         */
        local interface ISend
        {
            /**
             * @brief Send a CAN message.
             * @param[in] sMsg Message that is to be sent.
             * @param[in] uiIfcIndex Interface index to use for sending.
             */
            void Send(in SMessage sMsg, in uint32 uiIfcIndex);
        };

        /**
         * @brief Interface to request the available interfaces and nodes.
         */
        local interface IInformation
        {
            /**
             * @brief Get a list of interface names.
             * @return Sequence containing the names of the interfaces.
             */
            sequence<u8string> GetInterfaces() const;
        };
    };
};