esd_can_client.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 <string>
#include <vector>

#include "esd_can/include/ntcan.h"
#include "gflags/gflags.h"
#include "modules/common/proto/error_code.pb.h"
#include "modules/drivers/canbus/can_client/can_client.h"
#include "modules/drivers/canbus/common/canbus_consts.h"
#include "modules/drivers/canbus/proto/can_card_parameter.pb.h"

namespace apollo {
namespace drivers {
namespace canbus {
namespace can {

class EsdCanClient : public CanClient {
 public:
  bool Init(const CANCardParameter &parameter) override;

  virtual ~EsdCanClient();

  apollo::common::ErrorCode Start() override;

  void Stop() override;

  apollo::common::ErrorCode Send(const std::vector<CanFrame> &frames,
                                 int32_t *const frame_num) override;

  apollo::common::ErrorCode Receive(std::vector<CanFrame> *const frames,
                                    int32_t *const frame_num) override;

  std::string GetErrorString(const int32_t status) override;

 private:
  NTCAN_HANDLE dev_handler_;
  CANCardParameter::CANChannelId port_;
  CMSG send_frames_[MAX_CAN_SEND_FRAME_LEN];
  CMSG recv_frames_[MAX_CAN_RECV_FRAME_LEN];
};

}  // namespace can
}  // namespace canbus
}  // namespace drivers
}  // namespace apollo