can_bus.h

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//
// Created by qiayuan on 12/28/20.
//
 
#pragma once
 
#include "rm_hw/hardware_interface/socketcan.h"
#include "rm_hw/hardware_interface/types.h"
 
#include <chrono>
#include <mutex>
#include <thread>
 
namespace rm_hw
{
struct CanFrameStamp
{
  can_frame frame;
  ros::Time stamp;
};
 
class CanBus
{
public:
  CanBus(const std::string& bus_name, CanDataPtr data_ptr, int thread_priority);
  void read(ros::Time time);
  void write();
 
  void write(can_frame* frame);
 
  const std::string bus_name_;
 
private:
  void frameCallback(const can_frame& frame);
 
  can::SocketCAN socket_can_;
  CanDataPtr data_ptr_;
  std::vector<CanFrameStamp> read_buffer_;
 
  can_frame rm_frame0_{};  // for id 0x201~0x204
  can_frame rm_frame1_{};  // for id 0x205~0x208
 
  mutable std::mutex mutex_;
};
 
}  // namespace rm_hw