modularization/src/driver/driver_radar_continental_ARS408_SRR308/cansend_consumer.cpp

#include "cansend_consumer.h"

#include "decode_cfg.h"
extern setupConfig_t setupConfig;

#include "iv_msgunit.h"
extern iv::msgunit shmCANSend;

CANSend_Consumer::CANSend_Consumer(CAN_Producer_Consumer *pBuf)
{
    pBuffer = pBuf;
}

CANSend_Consumer::~CANSend_Consumer()
{
    requestInterruption();
    while(this->isFinished() == false);
}

void CANSend_Consumer::run()
{
    QTime xTime;
    xTime.start();

    int lastTime = xTime.elapsed();
    uint64_t interval = 20; //interval time should more than 10 ms

    uint64_t CANPackageIndex = 0;
    uint8_t CANPackageChannel;
    iv::can::canmsg xmsg;

    if(setupConfig.strMemCANSend == "cansend0")
        CANPackageChannel = 0;
    else
        CANPackageChannel = 1;

    while (!QThread::isInterruptionRequested())
    {
        pBuffer->Consume_Element_To_CANMsg(xmsg); //this function is block mode

        if(abs(xTime.elapsed() - lastTime)>=interval || xmsg.rawmsg_size() > 3500)
        {
            //update timer
            lastTime = xTime.elapsed();
            if(xmsg.rawmsg_size()>0) //actrully, because the fucntion before this is block mode, this determine is allways true, just for safety
            {
                //pack
                xmsg.set_index(CANPackageIndex);
                xmsg.set_channel(CANPackageChannel);
                xmsg.set_mstime(QDateTime::currentMSecsSinceEpoch());
                //send
                int ndatasize = xmsg.ByteSize();
                char * strser = new char[ndatasize];
                std::shared_ptr<char> pstrser;
                pstrser.reset(strser);
                if(xmsg.SerializePartialToArray(strser,ndatasize))
                {
                    iv::modulecomm::ModuleSendMsg(shmCANSend.mpa,strser,ndatasize);
                }
                else
                {
                    std::cout<<"CANSend_Consumer serialize error."<<std::endl;
                }
                //clear and update index
                xmsg.clear_rawmsg();
                CANPackageIndex++;
            }
            else
                std::cout << "rawmsg size is zero, no data need to be send." << std::endl;
        }
    }
}