canbus_component.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 <memory>
#include <string>
#include <utility>
#include <vector>

#include "cyber/common/macros.h"
#include "cyber/component/timer_component.h"
#include "cyber/cyber.h"
#include "cyber/timer/timer.h"

#include "modules/canbus/proto/chassis_detail.pb.h"
#include "modules/drivers/canbus/proto/can_card_parameter.pb.h"
#include "modules/guardian/proto/guardian.pb.h"

#include "modules/canbus/vehicle/vehicle_controller.h"
#include "modules/common/monitor_log/monitor_log_buffer.h"
#include "modules/common/status/status.h"
#include "modules/control/proto/control_cmd.pb.h"
#include "modules/drivers/canbus/can_client/can_client.h"
#include "modules/drivers/canbus/can_comm/can_receiver.h"
#include "modules/drivers/canbus/can_comm/can_sender.h"
#include "modules/drivers/canbus/can_comm/message_manager.h"

namespace apollo {
namespace canbus {

class CanbusComponent final : public apollo::cyber::TimerComponent {
 public:
  CanbusComponent();
  std::string Name() const;

 private:
  bool Init() override;

  bool Proc() override;

  void Clear() override;

  void PublishChassis();
  void PublishChassisDetail();
  void OnControlCommand(const apollo::control::ControlCommand &control_command);
  void OnGuardianCommand(
      const apollo::guardian::GuardianCommand &guardian_command);
  apollo::common::Status OnError(const std::string &error_msg);
  void RegisterCanClients();

  CanbusConf canbus_conf_;
  std::shared_ptr<cyber::Reader<apollo::guardian::GuardianCommand>>
      guardian_cmd_reader_;
  std::shared_ptr<cyber::Reader<apollo::control::ControlCommand>>
      control_command_reader_;
  std::unique_ptr<apollo::drivers::canbus::CanClient> can_client_;
  CanSender<ChassisDetail> can_sender_;
  apollo::drivers::canbus::CanReceiver<ChassisDetail> can_receiver_;
  std::unique_ptr<MessageManager<ChassisDetail>> message_manager_;
  std::unique_ptr<VehicleController> vehicle_controller_;
  int64_t last_timestamp_ = 0;
  ::apollo::common::monitor::MonitorLogBuffer monitor_logger_buffer_;
  std::shared_ptr<cyber::Writer<Chassis>> chassis_writer_;
  std::shared_ptr<cyber::Writer<ChassisDetail>> chassis_detail_writer_;
};

CYBER_REGISTER_COMPONENT(CanbusComponent)

}  // namespace canbus
}  // namespace apollo