Vehicle-cpp/remote_drive/EgoZJ/EgoSystem/can_bus.h

#pragma once
#include "../common/comm.h"
#include "../common/notifier.h"
#include "../common/iobuffer.h"
#include "../common/sensor_socket.h"

class CMessageQueue;
class CCanBusSensor
{
public:
     CCanBusSensor(CMessageQueue *q);
     void Notify(struct can_frame *date);
     
     void SetCanBusSensor(SensorCanBus<CCanBusSensor>* can);
     void Start();
     void Stop();

     void OnMessage(cannet_busframe* frames, int32_t count = 5);
     void Emergency();
     void NoEmergency();
     void GetGearCurrent(uint8_t data);
     void SetGear_FR_Current(uint8_t data,uint8_t type);
     
private:
     void Run();
     void CanSendProc();
     void SendStatusToMSG();
     

private:
     CMessageQueue* _message;
     SensorCanBus<CCanBusSensor> * _canbus;
     bool _run;

     std::thread _can_thread;
     std::mutex _last_can_lock;
     struct can_frame Sendframe[4];
     bool _front_view;

     volatile int64_t _last_can_uptime = 0;

     bool halfautomatic;
     uint8_t Gear_position_now;//实际挡位从J1939获取
     uint8_t Gear_direction;//挡位方向,0,N,0x01,F,0x02,R
     uint8_t Gear_position_Set;//舱端设置挡位

     int64_t count;
     //FeedData _data;
};