socket_can_client_raw.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 <unistd.h>
 
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/types.h>
 
#include <linux/can.h>
#include <linux/can/raw.h>
 
#include <cstdio>
#include <cstdlib>
#include <cstring>
#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 "gflags/gflags.h"
#include "modules/drivers/canbus/can_client/can_client.h"
#include "modules/drivers/canbus/common/canbus_consts.h"
 
namespace apollo {
namespace drivers {
namespace canbus {
namespace can {
 
class SocketCanClientRaw : public CanClient {
 public:
  bool Init(const CANCardParameter &parameter) override;
 
  virtual ~SocketCanClientRaw();
 
  apollo::common::ErrorCode Start() override;
 
  void Stop() override;
 
  apollo::common::ErrorCode Send(const std::vector<CanFrame> &frames,
                                 int32_t *const frame_num) override;
 
  apollo::common::ErrorCode Receive(std::vector<CanFrame> *const frames,
                                    int32_t *const frame_num) override;
 
  std::string GetErrorString(const int32_t status) override;
 
 private:
  int dev_handler_ = 0;
  CANCardParameter::CANChannelId port_;
  CANCardParameter::CANInterface interface_;
  can_frame send_frames_[MAX_CAN_SEND_FRAME_LEN];
  can_frame recv_frames_[MAX_CAN_RECV_FRAME_LEN];
};
 
}  // namespace can
}  // namespace canbus
}  // namespace drivers
}  // namespace apollo