hermes_can_client.h

浏览该文件的文档.

/******************************************************************************
 * 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 <string>
#include <vector>
 
#include "gflags/gflags.h"
 
#include "modules/common_msgs/basic_msgs/error_code.pb.h"
#include "modules/common_msgs/drivers_msgs/can_card_parameter.pb.h"
 
#include "modules/drivers/canbus/can_client/can_client.h"
#include "modules/drivers/canbus/can_client/hermes_can/bcan.h"
#include "modules/drivers/canbus/common/canbus_consts.h"
 
namespace apollo {
namespace drivers {
namespace canbus {
namespace can {
 
class HermesCanClient : public CanClient {
 public:
  // explicit HermesCanClient(const CANCardParameter &parameter);
 
  virtual ~HermesCanClient();
 
  bool Init(const CANCardParameter &parameter) override;
 
  apollo::common::ErrorCode Start() override;
 
  virtual void Stop();
 
  virtual apollo::common::ErrorCode Send(const std::vector<CanFrame> &frames,
                                         int32_t *const frame_num);
 
  virtual apollo::common::ErrorCode Receive(std::vector<CanFrame> *const frames,
                                            int32_t *const frame_num);
  virtual std::string GetErrorString(const int32_t status);
  void SetInited(bool init);
 
 private:
  bool is_init_ = false;
  bcan_hdl_t dev_handler_;
  CANCardParameter::CANChannelId port_;
  bcan_msg_t _send_frames[MAX_CAN_SEND_FRAME_LEN];
  bcan_msg_t _recv_frames[MAX_CAN_RECV_FRAME_LEN];
};
 
}  // namespace can
}  // namespace canbus
}  // namespace drivers
}  // namespace apollo
 
/* vim: set expandtab ts=4 sw=4 sts=4 tw=100: */