ESP32 CAN (TWAI) implementation using ESP-IDF v5.5+ node-based API. More...

#include <EspCan.h>

Inheritance diagram for EspCan:

Collaboration diagram for EspCan:

Public Member Functions
	EspCan (const hf_esp_can_config_t &config) noexcept
	Constructor with TWAI node configuration.

	~EspCan () noexcept override
	Destructor - ensures proper cleanup and resource deallocation.

hf_can_err_t	Initialize () noexcept override
	Initialize the TWAI node and allocate resources.

hf_can_err_t	Deinitialize () noexcept override
	Deinitialize the TWAI node and free resources.

hf_can_err_t	SendMessage (const hf_can_message_t &message, uint32_t timeout_ms=1000) noexcept override
	Send a CAN message.

hf_can_err_t	ReceiveMessage (hf_can_message_t &message, uint32_t timeout_ms=0) noexcept override
	Receive a CAN message (legacy polling interface).

hf_can_err_t	SetReceiveCallback (hf_can_receive_callback_t callback) noexcept override
	Set callback for received messages (legacy support removed - use RegisterReceiveCallback).

void	ClearReceiveCallback () noexcept override
	Clear the receive callback (legacy support removed - use UnregisterCallback).

hf_can_err_t	SetReceiveCallbackEx (hf_esp_can_receive_callback_t cb, void *user_data=nullptr) noexcept

void	ClearReceiveCallbackEx () noexcept

hf_can_err_t	SetErrorCallback (hf_esp_can_error_callback_t cb, void *user_data=nullptr) noexcept

void	ClearErrorCallback () noexcept

hf_can_err_t	SetStateChangeCallback (hf_esp_can_state_callback_t cb, void *user_data=nullptr) noexcept

void	ClearStateChangeCallback () noexcept

hf_can_err_t	SetTxCompleteCallback (hf_esp_can_tx_callback_t cb, void *user_data=nullptr) noexcept

void	ClearTxCompleteCallback () noexcept

hf_can_err_t	GetStatus (hf_can_status_t &status) noexcept override
	Get current CAN bus status.

hf_can_err_t	Reset () noexcept override
	Reset the CAN controller.

hf_can_err_t	SetAcceptanceFilter (uint32_t id, uint32_t mask, bool extended=false) noexcept override
	Set acceptance filter for incoming messages.

hf_can_err_t	ClearAcceptanceFilter () noexcept override
	Clear all acceptance filters (accept all messages).

hf_can_err_t	GetStatistics (hf_can_statistics_t &stats) noexcept override
	Get detailed statistics.

hf_can_err_t	ResetStatistics () noexcept override
	Reset statistics counters.

hf_can_err_t	GetDiagnostics (hf_can_diagnostics_t &diagnostics) noexcept override
	Get diagnostic information.

hf_can_err_t	ConfigureAdvancedTiming (const hf_esp_can_timing_config_t &timing_config) noexcept
	Configure advanced bit timing parameters.

hf_can_err_t	ConfigureAdvancedFilter (const hf_esp_can_filter_config_t &filter_config) noexcept
	Configure hardware acceptance filter with advanced options.

hf_can_err_t	InitiateBusRecovery () noexcept
	Initiate bus recovery from bus-off state.

hf_can_err_t	GetNodeInfo (twai_node_record_t &node_info) noexcept
	Get detailed node information including error states.

uint32_t	SendMessageBatch (const hf_can_message_t *messages, uint32_t count, uint32_t timeout_ms=1000) noexcept
	Send multiple messages in a batch for improved performance.

Public Member Functions inherited from BaseCan
virtual	~BaseCan () noexcept=default
	Virtual destructor ensures proper cleanup in derived classes.

	BaseCan (const BaseCan &)=delete

BaseCan &	operator= (const BaseCan &)=delete

	BaseCan (BaseCan &&)=delete

BaseCan &	operator= (BaseCan &&)=delete

bool	EnsureInitialized () noexcept
	Ensures that the CAN bus is initialized (lazy initialization).

bool	EnsureDeinitialized () noexcept
	Ensures that the CAN bus is deinitialized.

bool	IsInitialized () const noexcept
	Checks if the class is initialized.

virtual hf_can_err_t	SetReceiveCallbackFD (hf_can_fd_receive_callback_t callback) noexcept
	Set CAN-FD receive callback with enhanced information.

virtual bool	SupportsCanFD () const noexcept
	Check if CAN-FD is supported by this controller.

virtual bool	SetCanFDMode (bool enable, hf_u32_t data_baudrate=2000000, hf_u32_t timeout_ms=1000) noexcept
	Enable or disable CAN-FD mode.

virtual bool	ConfigureCanFDTiming (hf_u16_t nominal_prescaler, hf_u8_t nominal_tseg1, hf_u8_t nominal_tseg2, hf_u16_t data_prescaler, hf_u8_t data_tseg1, hf_u8_t data_tseg2, hf_u8_t sjw=1) noexcept
	Configure CAN-FD timing parameters.

virtual bool	SetTransmitterDelayCompensation (hf_u8_t tdc_offset, hf_u8_t tdc_filter) noexcept
	Set transmitter delay compensation (CAN-FD feature).

virtual hf_u32_t	ReceiveMessageBatch (hf_can_message_t *messages, hf_u32_t max_count, hf_u32_t timeout_ms=100) noexcept
	Receive multiple messages in a batch.

virtual hf_can_err_t	ResetDiagnostics () noexcept
	Reset CAN diagnostic information.

Private Member Functions
hf_can_err_t	ConvertToTwaiFrame (const hf_can_message_t &hf_message, twai_frame_t &twai_frame) noexcept
	Convert HF CAN message to ESP-IDF v5.5 TWAI frame.

hf_can_err_t	ConvertFromTwaiFrame (const twai_frame_t &twai_frame, hf_can_message_t &hf_message) noexcept
	Convert ESP-IDF v5.5 TWAI frame to HF CAN message.

hf_can_err_t	ConvertEspError (esp_err_t esp_err) noexcept
	Convert ESP-IDF error to HF error code.

void	UpdateStatistics (hf_can_operation_type_t operation_type, bool success) noexcept
	Update statistics after an operation.

void	ProcessReceivedMessage (const twai_frame_t &frame) noexcept
	Process received message through callback system.

void	UpdateErrorStatistics (uint32_t error_type) noexcept
	Update error statistics from error event.

void	DispatchReceiveCallbacks (const twai_frame_t &frame) noexcept
	Dispatch message to all registered receive callbacks.

void	DispatchErrorCallbacks (const hf_esp_can_error_info_t &error_info) noexcept
	Dispatch error event to all registered error callbacks.

void	DispatchStateChangeCallbacks (const hf_esp_can_state_info_t &state_info) noexcept
	Dispatch state change to all registered state callbacks.

void	DispatchTxCompleteCallbacks (const hf_esp_can_tx_info_t &tx_info) noexcept
	Dispatch transmission complete to all registered TX callbacks.

Static Private Member Functions
static bool	InternalReceiveCallback (twai_node_handle_t handle, const twai_rx_done_event_data_t event_data, void user_ctx) noexcept
	Internal receive event callback for ESP-IDF v5.5 event system.

static bool	InternalErrorCallback (twai_node_handle_t handle, const twai_error_event_data_t event_data, void user_ctx) noexcept
	Internal error event callback for comprehensive error handling.

static bool	InternalStateChangeCallback (twai_node_handle_t handle, const twai_state_change_event_data_t event_data, void user_ctx) noexcept
	Internal state change callback for bus recovery monitoring.

Private Attributes
const hf_esp_can_config_t	config_
	TWAI node configuration.

std::atomic< bool >	is_enabled_
	Node enabled state.

std::atomic< bool >	is_recovering_
	Bus recovery state.

PlatformMutex	config_mutex_
	Configuration mutex.

PlatformMutex	stats_mutex_
	Statistics mutex.

PlatformMutex	callback_mutex_
	Callback registry mutex.

twai_node_handle_t	twai_node_handle_
	Native TWAI node handle.

hf_esp_can_receive_callback_t	receive_cb_ {nullptr}

void *	receive_ud_ = nullptr

hf_esp_can_error_callback_t	error_cb_ {nullptr}

void *	error_ud_ = nullptr

hf_esp_can_state_callback_t	state_cb_ {nullptr}

void *	state_ud_ = nullptr

hf_esp_can_tx_callback_t	tx_cb_ {nullptr}

void *	tx_ud_ = nullptr

hf_can_statistics_t	statistics_
	Performance statistics.

hf_can_diagnostics_t	diagnostics_
	Diagnostic information.

hf_esp_can_timing_config_t	advanced_timing_
	Advanced timing configuration.

hf_esp_can_filter_config_t	current_filter_
	Current filter configuration.

bool	filter_configured_
	Filter configuration state.

Additional Inherited Members
Protected Member Functions inherited from BaseCan
	BaseCan () noexcept
	Protected constructor.

Protected Attributes inherited from BaseCan
bool	initialized_
	Initialization status.

hf_can_statistics_t	statistics_
	CAN operation statistics.

hf_can_diagnostics_t	diagnostics_
	CAN diagnostic information.

Detailed Description

ESP32 CAN (TWAI) implementation using ESP-IDF v5.5+ node-based API.

This class provides clean, comprehensive CAN communication using the ESP32's TWAI (Two-Wire Automotive Interface) controllers with modern ESP-IDF v5.5+ node-based APIs. The implementation supports ESP32-C6 and external SN65 CAN transceivers.

Key Features:

ESP-IDF v5.5+ handle-based TWAI node API
ESP32-C6 compatible TWAI controller support
Event-driven callback-based message reception
Advanced acceptance filtering (single/dual mask modes)
Comprehensive error detection and bus recovery
Advanced bit timing configuration for various baud rates
Thread-safe operations with proper resource management
Support for external SN65 CAN transceivers
Comprehensive diagnostics and performance monitoring

Note: This implementation requires ESP-IDF v5.5 or later; Each EspCan instance represents a single TWAI node

Constructor & Destructor Documentation

◆ EspCan()

EspCan::EspCan ( const hf_esp_can_config_t & config )

explicitnoexcept

Constructor with TWAI node configuration.

Parameters

config TWAI node configuration parameters

LAZY INITIALIZATION: The TWAI node is NOT physically configured until Initialize() is called. This follows the same pattern as EspAdc.

◆ ~EspCan()

EspCan::~EspCan ( )

overridenoexcept

Destructor - ensures proper cleanup and resource deallocation.

Member Function Documentation

◆ ClearAcceptanceFilter()

hf_can_err_t EspCan::ClearAcceptanceFilter ( )

overridevirtualnoexcept

Clear all acceptance filters (accept all messages).

Returns: hf_can_err_t error code

Reimplemented from BaseCan.

◆ ClearErrorCallback()

void EspCan::ClearErrorCallback ( )

noexcept

◆ ClearReceiveCallback()

void EspCan::ClearReceiveCallback ( )

overridevirtualnoexcept

Clear the receive callback (legacy support removed - use UnregisterCallback).

Reimplemented from BaseCan.

◆ ClearReceiveCallbackEx()

void EspCan::ClearReceiveCallbackEx ( )

noexcept

◆ ClearStateChangeCallback()

void EspCan::ClearStateChangeCallback ( )

noexcept

◆ ClearTxCompleteCallback()

void EspCan::ClearTxCompleteCallback ( )

noexcept

◆ ConfigureAdvancedFilter()

hf_can_err_t EspCan::ConfigureAdvancedFilter ( const hf_esp_can_filter_config_t & filter_config )

noexcept

Configure hardware acceptance filter with advanced options.

Parameters

filter_config Filter configuration including dual filter support

Returns: hf_can_err_t error code

◆ ConfigureAdvancedTiming()

hf_can_err_t EspCan::ConfigureAdvancedTiming ( const hf_esp_can_timing_config_t & timing_config )

noexcept

Configure advanced bit timing parameters.

Parameters

timing_config Advanced timing configuration

Returns: hf_can_err_t error code

◆ ConvertEspError()

hf_can_err_t EspCan::ConvertEspError ( esp_err_t esp_err )

privatenoexcept

Convert ESP-IDF error to HF error code.

Parameters

esp_err ESP-IDF error code

Returns: hf_can_err_t error code

◆ ConvertFromTwaiFrame()

hf_can_err_t EspCan::ConvertFromTwaiFrame	(	const twai_frame_t &	twai_frame,
		hf_can_message_t &	hf_message )

privatenoexcept

Convert ESP-IDF v5.5 TWAI frame to HF CAN message.

Parameters

twai_frame	Source TWAI frame
hf_message	Destination HF message

Returns: hf_can_err_t error code

◆ ConvertToTwaiFrame()

hf_can_err_t EspCan::ConvertToTwaiFrame	(	const hf_can_message_t &	hf_message,
		twai_frame_t &	twai_frame )

privatenoexcept

Convert HF CAN message to ESP-IDF v5.5 TWAI frame.

Parameters

hf_message	Source HF message
twai_frame	Destination TWAI frame

Returns: hf_can_err_t error code

◆ Deinitialize()

hf_can_err_t EspCan::Deinitialize ( )

overridevirtualnoexcept

Deinitialize the TWAI node and free resources.

Returns: hf_can_err_t error code

Note: This method stops the TWAI node and releases all resources

Implements BaseCan.

◆ DispatchErrorCallbacks()

void EspCan::DispatchErrorCallbacks ( const hf_esp_can_error_info_t & error_info )

privatenoexcept

Dispatch error event to all registered error callbacks.

Parameters

error_info Error information

◆ DispatchReceiveCallbacks()

void EspCan::DispatchReceiveCallbacks ( const twai_frame_t & frame )

privatenoexcept

Dispatch message to all registered receive callbacks.

Parameters

frame Received TWAI frame

◆ DispatchStateChangeCallbacks()

void EspCan::DispatchStateChangeCallbacks ( const hf_esp_can_state_info_t & state_info )

privatenoexcept

Dispatch state change to all registered state callbacks.

Parameters

state_info State change information

◆ DispatchTxCompleteCallbacks()

void EspCan::DispatchTxCompleteCallbacks ( const hf_esp_can_tx_info_t & tx_info )

privatenoexcept

Dispatch transmission complete to all registered TX callbacks.

Parameters

tx_info Transmission information

◆ GetDiagnostics()

hf_can_err_t EspCan::GetDiagnostics ( hf_can_diagnostics_t & diagnostics )

overridevirtualnoexcept

Get diagnostic information.

Parameters

diagnostics Reference to store diagnostic data

Returns: hf_can_err_t error code

Reimplemented from BaseCan.

◆ GetNodeInfo()

hf_can_err_t EspCan::GetNodeInfo ( twai_node_record_t & node_info )

noexcept

Get detailed node information including error states.

Parameters

node_info Reference to store node information

Returns: hf_can_err_t error code

◆ GetStatistics()

hf_can_err_t EspCan::GetStatistics ( hf_can_statistics_t & stats )

overridevirtualnoexcept

Get detailed statistics.

Parameters

stats Reference to store statistics

Returns: hf_can_err_t error code

Reimplemented from BaseCan.

◆ GetStatus()

hf_can_err_t EspCan::GetStatus ( hf_can_status_t & status )

overridevirtualnoexcept

Get current CAN bus status.

Parameters

status Reference to store status information

Returns: hf_can_err_t error code

Implements BaseCan.

◆ Initialize()

hf_can_err_t EspCan::Initialize ( )

overridevirtualnoexcept

Initialize the TWAI node and allocate resources.

Returns: hf_can_err_t error code

Note: This method configures the TWAI hardware and starts the node

Implements BaseCan.

◆ InitiateBusRecovery()

hf_can_err_t EspCan::InitiateBusRecovery ( )

noexcept

Initiate bus recovery from bus-off state.

Returns: hf_can_err_t error code

◆ InternalErrorCallback()

bool EspCan::InternalErrorCallback	(	twai_node_handle_t	handle,
		const twai_error_event_data_t *	event_data,
		void *	user_ctx )

staticprivatenoexcept

Internal error event callback for comprehensive error handling.

Parameters

handle	TWAI node handle
event_data	Error event data
user_ctx	User context

Returns: true to yield to higher priority task

◆ InternalReceiveCallback()

bool EspCan::InternalReceiveCallback	(	twai_node_handle_t	handle,
		const twai_rx_done_event_data_t *	event_data,
		void *	user_ctx )

staticprivatenoexcept

Internal receive event callback for ESP-IDF v5.5 event system.

Parameters

handle	TWAI node handle
event_data	Event data
user_ctx	User context

Returns: true to yield to higher priority task

◆ InternalStateChangeCallback()

bool EspCan::InternalStateChangeCallback	(	twai_node_handle_t	handle,
		const twai_state_change_event_data_t *	event_data,
		void *	user_ctx )

staticprivatenoexcept

Internal state change callback for bus recovery monitoring.

Parameters

handle	TWAI node handle
event_data	State change event data
user_ctx	User context

Returns: true to yield to higher priority task

◆ ProcessReceivedMessage()

void EspCan::ProcessReceivedMessage ( const twai_frame_t & frame )

privatenoexcept

Process received message through callback system.

Parameters

frame Received TWAI frame

◆ ReceiveMessage()

hf_can_err_t EspCan::ReceiveMessage	(	hf_can_message_t &	message,
		uint32_t	timeout_ms = 0 )

overridevirtualnoexcept

Receive a CAN message (legacy polling interface).

Parameters

message	Reference to store received message
timeout_ms	Timeout in milliseconds (0 = non-blocking)

Returns: hf_can_err_t error code

Note: Callback-based reception is preferred for ESP-IDF v5.5+

Implements BaseCan.

◆ Reset()

hf_can_err_t EspCan::Reset ( )

overridevirtualnoexcept

Reset the CAN controller.

Returns: hf_can_err_t error code

Implements BaseCan.

◆ ResetStatistics()

hf_can_err_t EspCan::ResetStatistics ( )

overridevirtualnoexcept

Reset statistics counters.

Returns: hf_can_err_t error code

Reimplemented from BaseCan.

◆ SendMessage()

hf_can_err_t EspCan::SendMessage	(	const hf_can_message_t &	message,
		uint32_t	timeout_ms = 1000 )

overridevirtualnoexcept

Send a CAN message.

Parameters

message	CAN message to send
timeout_ms	Timeout in milliseconds (0 = non-blocking)

Returns: hf_can_err_t error code

Implements BaseCan.

◆ SendMessageBatch()

uint32_t EspCan::SendMessageBatch	(	const hf_can_message_t *	messages,
		uint32_t	count,
		uint32_t	timeout_ms = 1000 )

virtualnoexcept

Send multiple messages in a batch for improved performance.

Parameters

messages	Array of messages to send
count	Number of messages
timeout_ms	Timeout for each message

Returns: Number of messages successfully sent

Reimplemented from BaseCan.

◆ SetAcceptanceFilter()

hf_can_err_t EspCan::SetAcceptanceFilter	(	uint32_t	id,
		uint32_t	mask,
		bool	extended = false )

overridevirtualnoexcept

Set acceptance filter for incoming messages.

Parameters

id	CAN ID to accept
mask	Acceptance mask (0 = don't care bits)
extended	true for extended frames, false for standard

Returns: hf_can_err_t error code

Implements BaseCan.

◆ SetErrorCallback()

hf_can_err_t EspCan::SetErrorCallback	(	hf_esp_can_error_callback_t	cb,
		void *	user_data = nullptr )

noexcept

◆ SetReceiveCallback()

hf_can_err_t EspCan::SetReceiveCallback ( hf_can_receive_callback_t callback )

overridevirtualnoexcept

Set callback for received messages (legacy support removed - use RegisterReceiveCallback).

Parameters

callback Callback function to handle received messages

Returns: hf_can_err_t error code

Implements BaseCan.

◆ SetReceiveCallbackEx()

hf_can_err_t EspCan::SetReceiveCallbackEx	(	hf_esp_can_receive_callback_t	cb,
		void *	user_data = nullptr )

noexcept

◆ SetStateChangeCallback()

hf_can_err_t EspCan::SetStateChangeCallback	(	hf_esp_can_state_callback_t	cb,
		void *	user_data = nullptr )

noexcept

◆ SetTxCompleteCallback()

hf_can_err_t EspCan::SetTxCompleteCallback	(	hf_esp_can_tx_callback_t	cb,
		void *	user_data = nullptr )

noexcept

◆ UpdateErrorStatistics()

void EspCan::UpdateErrorStatistics ( uint32_t error_type )

privatenoexcept

Update error statistics from error event.

Parameters

error_type Error type from ESP-IDF

◆ UpdateStatistics()

void EspCan::UpdateStatistics	(	hf_can_operation_type_t	operation_type,
		bool	success )

privatenoexcept

Update statistics after an operation.

Parameters

operation_type	Type of operation
success	Whether operation was successful

Member Data Documentation

◆ advanced_timing_

hf_esp_can_timing_config_t EspCan::advanced_timing_

private

Advanced timing configuration.

◆ callback_mutex_

PlatformMutex EspCan::callback_mutex_

mutableprivate

Callback registry mutex.

◆ config_

const hf_esp_can_config_t EspCan::config_

private

TWAI node configuration.

◆ config_mutex_

PlatformMutex EspCan::config_mutex_

mutableprivate

Configuration mutex.

◆ current_filter_

hf_esp_can_filter_config_t EspCan::current_filter_

private

Current filter configuration.

◆ diagnostics_

hf_can_diagnostics_t EspCan::diagnostics_

private

Diagnostic information.

◆ error_cb_

hf_esp_can_error_callback_t EspCan::error_cb_ {nullptr}

private

◆ error_ud_

void* EspCan::error_ud_ = nullptr

private

◆ filter_configured_

bool EspCan::filter_configured_

private

Filter configuration state.

◆ is_enabled_

std::atomic<bool> EspCan::is_enabled_

private

Node enabled state.

◆ is_recovering_

std::atomic<bool> EspCan::is_recovering_

private

Bus recovery state.

◆ receive_cb_

hf_esp_can_receive_callback_t EspCan::receive_cb_ {nullptr}

private

◆ receive_ud_

void* EspCan::receive_ud_ = nullptr

private

◆ state_cb_

hf_esp_can_state_callback_t EspCan::state_cb_ {nullptr}

private

◆ state_ud_

void* EspCan::state_ud_ = nullptr

private

◆ statistics_

hf_can_statistics_t EspCan::statistics_

private

Performance statistics.

◆ stats_mutex_

PlatformMutex EspCan::stats_mutex_

mutableprivate

Statistics mutex.

◆ twai_node_handle_

twai_node_handle_t EspCan::twai_node_handle_

private

Native TWAI node handle.

◆ tx_cb_

hf_esp_can_tx_callback_t EspCan::tx_cb_ {nullptr}

private

◆ tx_ud_

void* EspCan::tx_ud_ = nullptr

private

The documentation for this class was generated from the following files:

inc/mcu/esp32/EspCan.h
src/mcu/esp32/EspCan.cpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EspCan()

◆ ~EspCan()

Member Function Documentation

◆ ClearAcceptanceFilter()

◆ ClearErrorCallback()

◆ ClearReceiveCallback()

◆ ClearReceiveCallbackEx()

◆ ClearStateChangeCallback()

◆ ClearTxCompleteCallback()

◆ ConfigureAdvancedFilter()

◆ ConfigureAdvancedTiming()

◆ ConvertEspError()

◆ ConvertFromTwaiFrame()

◆ ConvertToTwaiFrame()

◆ Deinitialize()

◆ DispatchErrorCallbacks()

◆ DispatchReceiveCallbacks()

◆ DispatchStateChangeCallbacks()

◆ DispatchTxCompleteCallbacks()

◆ GetDiagnostics()

◆ GetNodeInfo()

◆ GetStatistics()

◆ GetStatus()

◆ Initialize()

◆ InitiateBusRecovery()

◆ InternalErrorCallback()

◆ InternalReceiveCallback()

◆ InternalStateChangeCallback()

◆ ProcessReceivedMessage()

◆ ReceiveMessage()

◆ Reset()

◆ ResetStatistics()

◆ SendMessage()

◆ SendMessageBatch()

◆ SetAcceptanceFilter()

◆ SetErrorCallback()

◆ SetReceiveCallback()

◆ SetReceiveCallbackEx()

◆ SetStateChangeCallback()

◆ SetTxCompleteCallback()

◆ UpdateErrorStatistics()

◆ UpdateStatistics()

Member Data Documentation

◆ advanced_timing_

◆ callback_mutex_

◆ config_

◆ config_mutex_

◆ current_filter_

◆ diagnostics_

◆ error_cb_

◆ error_ud_

◆ filter_configured_

◆ is_enabled_

◆ is_recovering_

◆ receive_cb_

◆ receive_ud_

◆ state_cb_

◆ state_ud_

◆ statistics_

◆ stats_mutex_

◆ twai_node_handle_

◆ tx_cb_

◆ tx_ud_