tdcan/src/components/zcanreceiver/zcanreceiverhost.hpp

//
// Created by zwsd
//

#pragma once
#include <mutex>

#include "socket_can/socket_can.hpp"
//
#include "thirdlib/spdlogfactory/logger_factory.hpp"

namespace iflytop {

using namespace std;
using namespace core;

class ZCanReceiverHost {
  ENABLE_LOGGER(ZCanReceiverHost);

 public:
  class CanPacketRxBuffer {
   public:
    uint16_t                   id;
    shared_ptr<SocketCanFrame> m_canPacket[256];  // 用于接收can消息
    uint8_t                    m_rxdata[255 * 8];
    uint8_t                    m_canPacketNum = 0;
    uint8_t                    m_rxdataLen    = 0;
  };

  typedef function<void(uint8_t fromboardid, uint8_t *packet, size_t len)> onpacket_t;

 public:
  uint8_t           m_hostId = 0;
  CanPacketRxBuffer m_canPacketRxBuffer[255];
  onpacket_t        m_onpacket;

  shared_ptr<SocketCan> m_socketCan;

  string m_can_if_name;
  int    m_baudrate;
  bool   m_enablLoopback;

 public:
  ZCanReceiverHost();
  void initialize(string can_if_name, int baudrate);
  void sendPacket(uint8_t *packet, size_t len);
  void registerListener(onpacket_t onpacket);
  void restartCanInterface();

 private:
  bool sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);

  void processRx(shared_ptr<SocketCanFrame> frame);
  void processOnePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len);
  void sendcmd(uint16_t packetindex, uint16_t cmdid, uint8_t subcmdid, uint8_t *data, size_t len);
};

}  // namespace iflytop