108 lines
3.4 KiB
C++
108 lines
3.4 KiB
C++
//
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// Created by lgv on 2025/7/14.
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//
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#pragma once
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#include "abstract_device.h"
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#include "cmvr/msgs/error_code.pb.h"
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#include "canbus/common/byte.h"
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namespace cmvr::device {
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/**
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* @class CanFrame
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* @brief The class which defines the information to send and receive.
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*/
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struct CanFrame {
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/// Message id
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uint32_t id;
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/// Message length
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uint8_t len;
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/// Message content
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uint8_t data[8];
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/// Time stamp
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struct timeval timestamp;
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/**
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* @brief Constructor
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*/
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CanFrame() : id(0), len(0), timestamp{0} {
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std::memset(data, 0, sizeof(data));
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}
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/**
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* @brief CanFrame string including essential information about the message.
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* @return The info string.
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*/
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std::string CanFrameString() const {
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std::stringstream output_stream("");
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output_stream << "id:0x" << Byte::byte_to_hex(id)
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<< ",len:" << static_cast<int>(len) << ",data:";
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for (uint8_t i = 0; i < len; ++i) {
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output_stream << Byte::byte_to_hex(data[i]);
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}
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output_stream << ",";
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return output_stream.str();
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}
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};
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const int CAN_RESULT_SUCC = 0;
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const int CAN_ERROR_BASE = 2000;
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const int CAN_ERROR_OPEN_DEVICE_FAILED = CAN_ERROR_BASE + 1;
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const int CAN_ERROR_FRAME_NUM = CAN_ERROR_BASE + 2;
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const int CAN_ERROR_SEND_FAILED = CAN_ERROR_BASE + 3;
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const int CAN_ERROR_RECV_FAILED = CAN_ERROR_BASE + 4;
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class AbstractCanbus : public AbstractDevice {
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public:
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AbstractCanbus(const XmlNode &cfg) : AbstractDevice(cfg) {}
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~AbstractCanbus() {}
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/**
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* @brief Send messages
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* @param frames The messages to send.
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* @param frame_num The amount of messages to send.
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* @return The status of the sending action
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*/
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virtual cmvr::msgs::ErrorCode send(const std::vector<CanFrame> &frames,
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int32_t *const frame_num) = 0;
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/**
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* @brief Send a single message.
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* @param frames A single-element vector containing only one message.
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* @return The status of the sending single message action
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*/
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virtual cmvr::msgs::ErrorCode sendSingleFrame(
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const std::vector<CanFrame> &frames) {
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CHECK_EQ(frames.size(), 1U)
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<< "frames size not equal to 1, actual frame size :" << frames.size();
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int32_t n = 1;
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return send(frames, &n);
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}
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/**
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* @brief Receive messages
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* @param frames The messages to receive.
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* @param frame_num The amount of messages to receive.
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* @return The status of the receiving action which is defined by
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* apollo::common::ErrorCode.
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*/
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virtual cmvr::msgs::ErrorCode receive(std::vector<CanFrame> *const frames,
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int32_t *const frame_num) = 0;
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/**
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* @brief Get the error string.
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* @param status The status to get the error string.
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*/
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virtual std::string getErrorString(const int32_t status) = 0;
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protected:
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/// The CAN client is started.
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bool is_started_ = false;
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/// CAN clientstatus
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cmvr::msgs::ErrorCode status_;
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//
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bool enable_log_{false};
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};
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}
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