canctrl.h 1.1 KB

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  1. #ifndef CANCTRL_H
  2. #define CANCTRL_H
  3. #include <QThread>
  4. #include <QMutex>
  5. #include <memory>
  6. #include <QTimer>
  7. #include <array>
  8. #include <vector>
  9. #include <iostream>
  10. #include "nvcan.h"
  11. #include "modulecomm.h"
  12. #include "canmsg.pb.h"
  13. #include "canraw.pb.h"
  14. #include "canstate.pb.h"
  15. class canctrl : public QThread
  16. {
  17. Q_OBJECT
  18. public:
  19. canctrl(const char * strmemsend0,const char * strmemrecv0,const char * strmemsend1,const char * strmemrecv1,const char * strcan0name,const char * strcan1name);
  20. ~canctrl();
  21. private slots:
  22. void onCANState(bool bCAN,int nR,const char * strres);
  23. private:
  24. void run();
  25. basecan * mpcan;
  26. std::shared_ptr<basecan> mspcan;
  27. bool mbCANOpen = false;
  28. std::vector<basecan_msg> msendmsgvector1;
  29. const int SENDMSGBUFSIZE = 3000;
  30. QMutex mMutexcan1;
  31. int mindex[2];
  32. void * mpasend0, * mparecv0, *mpcanState;
  33. void * mpasend1, * mparecv1;
  34. public:
  35. void sendmsg(int index,iv::can::canmsg xmsg);
  36. void sharecanmsg(void * xpa,basecan_msg * pxmsg,int ncount,int nch);
  37. private:
  38. void threadstate();
  39. std::thread * mptheadstate;
  40. bool mbstaterun = true;
  41. };
  42. #endif // CANCTRL_H