57 lines
1.3 KiB
C
57 lines
1.3 KiB
C
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#pragma once
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#include <linux/can.h>
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#include <atomic>
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#include <functional>
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#include <mutex>
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#include <set>
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#include <string>
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#include <thread>
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#include "logger.h"
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class CanBus
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{
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public:
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using ReceiveCallback = std::function<void(const can_frame &)>;
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CanBus(const std::string &id, const std::string &interface_name, Logger &logger);
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~CanBus();
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bool start(); // 启动 CAN 接收线程并尝试初始化，失败会自动重试
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void stop();
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bool send_frame(const can_frame &frame);
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void set_receive_callback(ReceiveCallback cb) { receive_callback_ = cb; }
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bool is_running() const { return running_; }
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// 黑名单管理
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void add_blacklist_id(uint32_t can_id);
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void remove_blacklist_id(uint32_t can_id);
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void clear_blacklist();
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private:
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void receive_loop();
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bool init_socket();
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private:
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std::string id_;
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std::string interface_name_;
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Logger &logger_;
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int sockfd_ = -1;
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std::atomic<bool> running_{false};
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std::thread worker_;
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std::mutex send_mutex_;
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ReceiveCallback receive_callback_;
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std::set<uint32_t> blacklist_;
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std::mutex blacklist_mutex_;
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// 自动重试策略
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int retry_first_ = 2; // 初次失败间隔秒
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int retry_max_ = 30; // 最大间隔秒
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};
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