Vehicle-cpp/ZJ_PRO/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_frame* frames, int32_t count = 4);
     void Emergency();
     
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];
     struct can_frame Sendframe[5];
     bool _front_view = true;

     int16_t Direction;//方向
     int16_t Hand_Throttle;//手油门
     int16_t Foot_Throttle;//脚油门
     int16_t Brake;//刹车

     int64_t count;
     FeedData _data;
     int model;//0本地,1远程

     int travelSpeed,gearStatus,fGear,bGear; //行驶速度,实际档位,前进,后退档

     vehicle_control_cv control_can;
};