hermes_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 "gflags/gflags.h"

#include "modules/common/proto/error_code.pb.h"
#include "modules/drivers/canbus/proto/can_card_parameter.pb.h"

#include "modules/drivers/canbus/can_client/can_client.h"
#include "modules/drivers/canbus/can_client/hermes_can/bcan.h"
#include "modules/drivers/canbus/common/canbus_consts.h"

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

class HermesCanClient : public CanClient {
 public:
  // explicit HermesCanClient(const CANCardParameter &parameter);

  virtual ~HermesCanClient();

  bool Init(const CANCardParameter &parameter) override;

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

  virtual void Stop();

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

  virtual apollo::common::ErrorCode Receive(std::vector<CanFrame> *const frames,
                                            int32_t *const frame_num);
  virtual std::string GetErrorString(const int32_t status);
  void SetInited(bool init);

 private:
  bool is_init_ = false;
  bcan_hdl_t dev_handler_;
  CANCardParameter::CANChannelId port_;
  bcan_msg_t _send_frames[MAX_CAN_SEND_FRAME_LEN];
  bcan_msg_t _recv_frames[MAX_CAN_RECV_FRAME_LEN];
};

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

/* vim: set expandtab ts=4 sw=4 sts=4 tw=100: */