checker_host/interface/if_can.h

#ifndef if_can_h__
#define if_can_h__

#include <base/base.h>
#include <QObject>
#include <QCanBus>
#include <QCanBusDevice>
#include "stdint-gcc.h"
#include "QList"
#include "QTimer"
#include "interface/interface.h"

// 定义can从机对象
class can_slave : public QObject
{
  Q_OBJECT
public:
  uint8_t addr;
  can_slave();
  can_slave(const can_slave &b);
  ~can_slave();
  can_slave &operator=(const can_slave &b);
  void append(QByteArray data);
  QByteArray get_data();
  int get_pack_num();
  void clear();
  bool is_empty()
  {
    if (recv_data.size() == 0)
      return true;
    else
      return false;
  }

private:
  QByteArray recv_data;
  int recv_pack_num;
};

// 定义can主机对象
class can_host : public InterFace
{
  Q_OBJECT
public:
  can_host(int bitrate);
  ~can_host();
  // 用户调用这个函数初始化
  void init();
  int write(myarray data){return 0;}
  int write(int dst,myarray data);

private:
  can_slave &get_slave_by_addr(uint8_t addr);
  void append(uint8_t addr, uint8_t fun_class, QByteArray data);
public slots:
  // 用户把发送数据信号连接到这个槽
  void send_data_mul_slot(QList<int> addrs, QByteArray data);
signals:
  void recv_data_signal(int src,QByteArray data);
private slots:
  void freams_sent_cb(qint64 count);
  void recv_data_cb();
  void on_error_cb(QCanBusDevice::CanBusError err);
  void init_cb();
  // void timerout_cb();
private:
  int bitrate;
  QCanBusDevice *can_;
  QList<can_slave> slaves;
  QList<QCanBusFrame> send_packets;
  QList<QCanBusFrame> recv_packets;
  QTimer *timer_;
};

#endif