can_client.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <cstdint>
#include <cstring>
#include <sstream>
#include <string>
#include <vector>
 
#include "modules/common_msgs/basic_msgs/error_code.pb.h"
#include "modules/common_msgs/drivers_msgs/can_card_parameter.pb.h"
 
#include "cyber/common/log.h"
#include "modules/drivers/canbus/common/byte.h"
 
namespace apollo {
namespace drivers {
namespace canbus {
 
struct CanFrame {
  uint32_t id;
  uint8_t len;
  uint8_t data[8];
  struct timeval timestamp;
 
  CanFrame() : id(0), len(0), timestamp{0} {
    std::memset(data, 0, sizeof(data));
  }
 
  std::string CanFrameString() const {
    std::stringstream output_stream("");
    output_stream << "id:0x" << Byte::byte_to_hex(id)
                  << ",len:" << static_cast<int>(len) << ",data:";
    for (uint8_t i = 0; i < len; ++i) {
      output_stream << Byte::byte_to_hex(data[i]);
    }
    output_stream << ",";
    return output_stream.str();
  }
};
 
const int CAN_RESULT_SUCC = 0;
const int CAN_ERROR_BASE = 2000;
const int CAN_ERROR_OPEN_DEVICE_FAILED = CAN_ERROR_BASE + 1;
const int CAN_ERROR_FRAME_NUM = CAN_ERROR_BASE + 2;
const int CAN_ERROR_SEND_FAILED = CAN_ERROR_BASE + 3;
const int CAN_ERROR_RECV_FAILED = CAN_ERROR_BASE + 4;
 
class CanClient {
 public:
  CanClient() = default;
 
  virtual ~CanClient() = default;
 
  virtual bool Init(const CANCardParameter &parameter) = 0;
 
  virtual apollo::common::ErrorCode Start() = 0;
 
  virtual void Stop() = 0;
 
  virtual apollo::common::ErrorCode Send(const std::vector<CanFrame> &frames,
                                         int32_t *const frame_num) = 0;
 
  virtual apollo::common::ErrorCode SendSingleFrame(
      const std::vector<CanFrame> &frames) {
    CHECK_EQ(frames.size(), 1U)
        << "frames size not equal to 1, actual frame size :" << frames.size();
    int32_t n = 1;
    return Send(frames, &n);
  }
 
  virtual apollo::common::ErrorCode Receive(std::vector<CanFrame> *const frames,
                                            int32_t *const frame_num) = 0;
 
  virtual std::string GetErrorString(const int32_t status) = 0;
 
 protected:
  bool is_started_ = false;
};
 
}  // namespace canbus
}  // namespace drivers
}  // namespace apollo