apollo::drivers::canbus::CanClient Class Reference

The class which defines the CAN client to send and receive message. More...

#include <can_client.h>

Inheritance diagram for apollo::drivers::canbus::CanClient:

Collaboration diagram for apollo::drivers::canbus::CanClient:

Public Member Functions
	CanClient ()=default
	Constructor. More...
virtual	~CanClient ()=default
	Destructor. More...
virtual bool	Init (const CANCardParameter &parameter)=0
	Initialize the CAN client by specified CAN card parameters. More...
virtual apollo::common::ErrorCode	Start ()=0
	Start the CAN client. More...
virtual void	Stop ()=0
	Stop the CAN client. More...
virtual apollo::common::ErrorCode	Send (const std::vector< CanFrame > &frames, int32_t *const frame_num)=0
	Send messages. More...
virtual apollo::common::ErrorCode	SendSingleFrame (const std::vector< CanFrame > &frames)
	Send a single message. More...
virtual apollo::common::ErrorCode	Receive (std::vector< CanFrame > *const frames, int32_t *const frame_num)=0
	Receive messages. More...
virtual std::string	GetErrorString (const int32_t status)=0
	Get the error string. More...

Protected Attributes
bool	is_started_ = false
	The CAN client is started. More...

Detailed Description

The class which defines the CAN client to send and receive message.

Constructor & Destructor Documentation

CanClient()

apollo::drivers::canbus::CanClient::CanClient ( )

default

Constructor.

~CanClient()

virtual apollo::drivers::canbus::CanClient::~CanClient ( )

virtualdefault

Destructor.

Member Function Documentation

GetErrorString()

virtual std::string apollo::drivers::canbus::CanClient::GetErrorString ( const int32_t  status )

pure virtual

Get the error string.

Parameters

status

The status to get the error string.

Implemented in apollo::drivers::canbus::can::SocketCanClientRaw, apollo::drivers::canbus::can::HermesCanClient, apollo::drivers::canbus::can::EsdCanClient, and apollo::drivers::canbus::can::FakeCanClient.

Init()

virtual bool apollo::drivers::canbus::CanClient::Init ( const CANCardParameter &  parameter )

pure virtual

Initialize the CAN client by specified CAN card parameters.

Parameters

parameter

CAN card parameters to initialize the CAN client.

Returns

If the initialization is successful.

Implemented in apollo::drivers::canbus::can::SocketCanClientRaw, apollo::drivers::canbus::can::HermesCanClient, apollo::drivers::canbus::can::EsdCanClient, and apollo::drivers::canbus::can::FakeCanClient.

Receive()

virtual apollo::common::ErrorCode apollo::drivers::canbus::CanClient::Receive ( std::vector< CanFrame > *const  frames, int32_t *const  frame_num  )

pure virtual

Receive messages.

Parameters

frames	The messages to receive.
frame_num	The amount of messages to receive.

Returns

The status of the receiving action which is defined by apollo::common::ErrorCode.

Implemented in apollo::drivers::canbus::can::SocketCanClientRaw, apollo::drivers::canbus::can::HermesCanClient, apollo::drivers::canbus::can::EsdCanClient, and apollo::drivers::canbus::can::FakeCanClient.

Send()

virtual apollo::common::ErrorCode apollo::drivers::canbus::CanClient::Send ( const std::vector< CanFrame > &  frames, int32_t *const  frame_num  )

pure virtual

Send messages.

Parameters

frames	The messages to send.
frame_num	The amount of messages to send.

Returns

The status of the sending action which is defined by apollo::common::ErrorCode.

Implemented in apollo::drivers::canbus::can::SocketCanClientRaw, apollo::drivers::canbus::can::HermesCanClient, apollo::drivers::canbus::can::EsdCanClient, and apollo::drivers::canbus::can::FakeCanClient.

SendSingleFrame()

virtual apollo::common::ErrorCode apollo::drivers::canbus::CanClient::SendSingleFrame ( const std::vector< CanFrame > &  frames )

inlinevirtual

Send a single message.

Parameters

frames

A single-element vector containing only one message.

Returns

The status of the sending single message action which is defined by apollo::common::ErrorCode.

Start()

virtual apollo::common::ErrorCode apollo::drivers::canbus::CanClient::Start ( )

pure virtual

Start the CAN client.

Returns

The status of the start action which is defined by apollo::common::ErrorCode.

Implemented in apollo::drivers::canbus::can::SocketCanClientRaw, apollo::drivers::canbus::can::HermesCanClient, apollo::drivers::canbus::can::EsdCanClient, and apollo::drivers::canbus::can::FakeCanClient.

Stop()

virtual void apollo::drivers::canbus::CanClient::Stop ( )

pure virtual

Stop the CAN client.

Implemented in apollo::drivers::canbus::can::SocketCanClientRaw, apollo::drivers::canbus::can::HermesCanClient, apollo::drivers::canbus::can::EsdCanClient, and apollo::drivers::canbus::can::FakeCanClient.

Member Data Documentation

is_started_

bool apollo::drivers::canbus::CanClient::is_started_ = false

protected

The CAN client is started.

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The documentation for this class was generated from the following file:

• modules/drivers/canbus/can_client/can_client.h