modularization/src/driver/driver_can_nvidia_agx_new/canctrl.h

#ifndef CANCTRL_H
#define CANCTRL_H

#include <QThread>
#include <QMutex>
#include <memory>
#include <QTimer>
#include <array>
#include <vector>
#include <iostream>
#include "nvcan.h"
#include "modulecomm.h"
#include "canmsg.pb.h"
#include "canraw.pb.h"
#include "canstate.pb.h"

class canctrl : public QThread
{
    Q_OBJECT
public:
    canctrl(const char * strmemsend0,const char * strmemrecv0,const char * strmemsend1,const char * strmemrecv1,const char * strcan0name,const char * strcan1name);
    ~canctrl();

private slots:
    void onCANState(bool bCAN,int nR,const char * strres);

private:
    void run();

    basecan * mpcan;
    std::shared_ptr<basecan> mspcan;
    bool mbCANOpen = false;

    std::vector<basecan_msg> msendmsgvector1;
    const int SENDMSGBUFSIZE = 3000;

    QMutex mMutexcan1;

    int mindex[2];

    void * mpasend0,  * mparecv0,  *mpcanState;
    void * mpasend1,  * mparecv1;

public:
    void sendmsg(int index,iv::can::canmsg xmsg);
    void sharecanmsg(void * xpa,basecan_msg * pxmsg,int ncount,int nch);


private:
    void  threadstate();
    std::thread * mptheadstate;
    bool mbstaterun = true;




};

#endif // CANCTRL_H