rk3588sdk/src/service/can_service.hpp

//
// Created by iflytop
//

#pragma once
#include <fstream>
#include <iostream>
#include <list>
#include <map>
#include <memory>
#include <set>
#include <sstream>
#include <string>
#include <vector>

#include "configs/gconfig.hpp"
#include "iflytopcpp/core/basic/nlohmann/json.hpp"
#include "iflytopcpp/core/driver/socketcan/socket_can.hpp"
#include "iflytopcpp/core/spdlogfactory/logger.hpp"
#include "zlinuxcomponents/iflytop_can_protocol_stack/iflytop_can_protocol_stack.hpp"
#include "zservice_container/zservice_container.hpp"

/**
 * @brief
 *
 * service: CanService
 *
 *    1. 负责监听，分流IflytopSubDevice的CAN消息和哈美顿的CAN消息
 *    2. 负责将CanFrame转换成IflytopCanPacket
 */

namespace iflytop {
using namespace std;
using namespace iflytop;
using namespace core;
using namespace nlohmann;
class CanService : public enable_shared_from_this<CanService> {
  ENABLE_LOGGER(CanService);

  shared_ptr<SocketCan> m_socketCan;
  shared_ptr<GConfig>   m_config;

  shared_ptr<IflytopCanProtocolStack> m_iflytopCanProtocolStack;

 public:
  nod::signal<void(shared_ptr<icps::Packet> packet)> onIflytopCanSubDevicePacket;

  void initialize();
  void startListen();

  SocketCan::SocketCanError_t sendPacketToIflytopCanSubDevice(shared_ptr<icps::Packet> icps_packet, int overtime_ms);

 private:
  void processRx(shared_ptr<SocketCanFrame> frame);
  // 处理iflytop子设备的CAN消息
  void processIflytopRxPacket(shared_ptr<SocketCanFrame> frame);
  // 处理哈美顿的CAN消息
  void processHamiltonCanRxPacket(shared_ptr<SocketCanFrame> frame);

 private:
};
}  // namespace iflytop