You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
62 lines
1.6 KiB
62 lines
1.6 KiB
//
|
|
// 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
|