modularization/src/driver/driver_can_vci/canctrl.h

#ifndef CANCTRL_H
#define CANCTRL_H


#include <QThread>
#include <QMutex>

#include <memory>
#include <QTimer>
#include <array>
#include <vector>
#include <iostream>

#include "vcican.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 * strmemsend1,const char * strmemrecv0,const char * strmemrecv1,const char * strdevnum = "0",
            const char * strbaud0="500k",const char * strbaud1="500k");

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;
    std::vector<basecan_msg> msendmsgvector2;
    const int SENDMSGBUFSIZE = 3000;

    QMutex mMutexcan1;
    QMutex mMutexcan2;

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

    int mindex[2];

    char mstrmemsend0[256],mstrmemsend1[256],mstrmemrecv0[256],mstrmemrecv1[256];

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


};

#endif // CANCTRL_H