[HW]: Add Peak Ethernet Gateway DR support

hardware_integration/CMakeLists.txt

@@ -53,6 +53,16 @@ if("WindowsPCANBasic" IN_LIST CAN_DRIVER)
   list(APPEND HARDWARE_INTEGRATION_SRC "pcan_basic_windows_plugin.cpp")
   list(APPEND HARDWARE_INTEGRATION_INCLUDE "pcan_basic_windows_plugin.hpp")
 endif()
+if("PeakEthernetGateway" IN_LIST CAN_DRIVER)
+  list(APPEND HARDWARE_INTEGRATION_SRC "peak_ethernet_gateway_plugin.cpp")
+  list(APPEND HARDWARE_INTEGRATION_INCLUDE "peak_ethernet_gateway_plugin.hpp")
+  if(WIN32)
+    find_library(SOCKET_LIB ws2_32)
+    if(SOCKET_LIB)
+      message(STATUS "Linking Winsock2 due to PEAK Ethernet Gateway")
+    endif()
+  endif()
+endif()
 if("VirtualCAN" IN_LIST CAN_DRIVER)
   list(APPEND HARDWARE_INTEGRATION_SRC "virtual_can_plugin.cpp")
   list(APPEND HARDWARE_INTEGRATION_INCLUDE "virtual_can_plugin.hpp")
@@ -127,8 +137,9 @@ add_library(${PROJECT_NAME}::HardwareIntegration ALIAS HardwareIntegration)
 
 target_compile_features(HardwareIntegration PUBLIC cxx_std_11)
 set_target_properties(HardwareIntegration PROPERTIES CXX_EXTENSIONS OFF)
-target_link_libraries(HardwareIntegration PRIVATE ${PROJECT_NAME}::Utility
-                                                  ${PROJECT_NAME}::Isobus)
+target_link_libraries(
+  HardwareIntegration PRIVATE ${PROJECT_NAME}::Utility ${PROJECT_NAME}::Isobus
+                              ${SOCKET_LIB})
 
 if("WindowsPCANBasic" IN_LIST CAN_DRIVER)
   if(MSVC)

hardware_integration/include/isobus/hardware_integration/available_can_drivers.hpp

@@ -18,6 +18,10 @@
 #include "isobus/hardware_integration/pcan_basic_windows_plugin.hpp"
 #endif
 
+#ifdef ISOBUS_PEAKETHERNETGATEWAY_AVAILABLE
+#include "isobus/hardware_integration/peak_ethernet_gateway_plugin.hpp"
+#endif
+
 #ifdef ISOBUS_VIRTUALCAN_AVAILABLE
 #include "isobus/hardware_integration/virtual_can_plugin.hpp"
 #endif

hardware_integration/include/isobus/hardware_integration/peak_ethernet_gateway_plugin.hpp

@@ -0,0 +1,87 @@
+//================================================================================================
+/// @file peak_ethernet_gateway_plugin.hpp
+///
+/// @brief An interface for using a PEAK Ethernet Gateway DR.
+/// @author Adrian Del Grosso
+///
+/// @copyright 2024 The Open-Agriculture Developers
+//================================================================================================
+#ifndef PEAK_ETHERNET_GATEWAY_PLUGIN_HPP
+#define PEAK_ETHERNET_GATEWAY_PLUGIN_HPP
+
+#include <deque>
+#include <memory>
+#include <string>
+
+#ifdef WIN32
+#include <winsock.h>
+#else
+#include <sys/socket.h>
+#endif
+
+#include "isobus/hardware_integration/can_hardware_plugin.hpp"
+#include "isobus/isobus/can_hardware_abstraction.hpp"
+#include "isobus/isobus/can_message_frame.hpp"
+
+namespace isobus
+{
+	/// @brief Peak Ethernet Gateway CAN hardware plugin
+	class PeakEthernetGatewayPlugin : public CANHardwarePlugin
+	{
+	public:
+		/// @brief Constructor for a PeakEthernetGatewayPlugin
+		/// @param[in] targetIPAddress The IP address of the gateway
+		/// @param[in] txPort The port to send data to
+		/// @param[in] rxPort The port to receive data from (this is the port the gateway sends data from)
+		/// @param[in] useUDP If `true`, use UDP, otherwise use TCP
+		PeakEthernetGatewayPlugin(std::string targetIPAddress,
+		                          std::uint16_t txPort,
+		                          std::uint16_t rxPort,
+		                          bool useUDP = true);
+
+		/// @brief The destructor for PCANBasicWindowsPlugin
+		virtual ~PeakEthernetGatewayPlugin();
+
+		/// @brief Returns if the connection with the hardware is valid
+		/// @returns `true` if connected, `false` if not connected
+		bool get_is_valid() const override;
+
+		/// @brief Closes the connection to the hardware
+		void close() override;
+
+		/// @brief Connects to the hardware you specified in the constructor's channel argument
+		void open() override;
+
+		/// @brief Returns a frame from the hardware (synchronous), or `false` if no frame can be read.
+		/// @param[in, out] canFrame The CAN frame that was read
+		/// @returns `true` if a CAN frame was read, otherwise `false`
+		bool read_frame(isobus::CANMessageFrame &canFrame) override;
+
+		/// @brief Writes a frame to the bus (synchronous)
+		/// @param[in] canFrame The frame to write to the bus
+		/// @returns `true` if the frame was written, otherwise `false`
+		bool write_frame(const isobus::CANMessageFrame &canFrame) override;
+
+	private:
+		/// @brief Opens the receive socket
+		/// @returns `true` if the socket was opened, otherwise `false`
+		bool open_rx_socket();
+
+		/// @brief Opens the transmit socket
+		/// @returns `true` if the socket was opened, otherwise `false`
+		bool open_tx_socket();
+
+		static constexpr std::uint32_t RX_BUFFER_SIZE_BYTES = 2048; ///< Default size of the receive buffer
+
+		std::unique_ptr<std::uint8_t> rxBuffer; ///< The receive buffer (multiple frames can be in the buffer, per ethernet frame)
+		std::deque<isobus::CANMessageFrame> rxQueue; ///< The queue of received frames, which get passed to the CAN Hardware Abstraction when needed
+		std::string ipAddress; ///< The IP address of the gateway
+		int rxSocket = 0; ///< The receive socket identifier
+		int txSocket = 0; ///< The transmit socket identifier
+		std::uint16_t sendPort; ///< The port to send data to
+		std::uint16_t receivePort; ///< The port to receive data from
+		bool isOpen = false; ///< If the connection is open
+		bool udp; ///< If the connection is using UDP
+	};
+}
+#endif // PEAK_ETHERNET_GATEWAY_PLUGIN_HPP