Sub_Spray_STM32/User/BSP/can_control/can_controller.h

/*
* can_controller.h
 *
 *  Created on: Feb 20, 2025
 *      Author: iflyt
 */

#ifndef APPHAL_CAN_CONTROLLER_H_
#define APPHAL_CAN_CONTROLLER_H_

#include <stm32f4xx_hal.h>
#include "can_message.h"
#include "can_protocol_factory.h"
#include "can_protocol_parser.h"
#include "can.h"
// 使用 CMSIS - RTOS v2 头文件
#include "cmsis_os2.h"

class CANSystemResourceManager {
public:
    CANSystemResourceManager();
    ~CANSystemResourceManager();
};

// CAN 收发控制类
class CanController {
public:
    CanController();
    ~CanController();
    bool start(CAN_HandleTypeDef* hcan);
    void stop();
    bool sendMessage(const CanMessage& msg);

private:
    static void canTxTask(void *argument);
    static void canParserTask(void *argument);
    CAN_HandleTypeDef* hcan;
    CanProtocolParser parser;

    osMessageQueueId_t tx_queue;

    osThreadId_t tx_task_handle;
    osThreadId_t parser_task_handle;

    osMutexId_t mutex_tx_queue_;
};

#endif /* APPHAL_CAN_CONTROLLER_H_ */