Initial commit

sensors/can_driver/include/can_ros_package/can_ros_node.h

@@ -0,0 +1,59 @@
+#ifndef CAN_ROS_PACKAGE_CAN_ROS_NODE_H
+#define CAN_ROS_PACKAGE_CAN_ROS_NODE_H
+
+#include <ros/ros.h>
+#include <vector>
+#include <thread>
+#include <mutex>
+#include <atomic>
+#include <condition_variable>
+#include "controlcan.h"
+#include "can_msgs/Frame.h"
+
+namespace can_ros_package {
+
+class CanDriver {
+public:
+    CanDriver();
+    ~CanDriver();
+    
+    bool init();
+    bool initCanChannel(int channel);
+    bool sendToCan1(VCI_CAN_OBJ& msg);
+    bool sendToCan2(VCI_CAN_OBJ& msg);
+    std::vector<VCI_CAN_OBJ> getReceivedMessages();
+    void stop();
+    
+    bool isCan1Connected();
+    bool isCan2Connected();
+    
+private:
+    void receiveLoop();
+    void reconnect(int channel);
+    bool tryReconnectChannel(int channel);
+    
+    
+    std::atomic<bool> is_running_;
+    std::atomic<bool> can1_connected_;
+    std::atomic<bool> can2_connected_;
+    DWORD device_type_;
+    DWORD device_ind_;
+    VCI_BOARD_INFO board_info_;
+    
+    std::thread receive_thread_;
+    std::mutex receive_mutex_;
+    std::mutex send_mutex_;
+    std::mutex reconnect_mutex_;
+    std::vector<VCI_CAN_OBJ> can_msgs_;
+    
+    // 接收缓冲区状态管理
+    std::condition_variable receive_cv_;
+    bool new_data_available_;
+    
+    const int reconnect_interval_ms_ = 600;
+    const int max_reconnect_attempts_ = 5;  // 最大重连尝试次数
+};
+
+} // namespace can_ros_package
+
+#endif // CAN_ROS_PACKAGE_CAN_ROS_NODE_H

sensors/can_driver/include/can_ros_package/controlcan.h

@@ -0,0 +1,104 @@
+#ifndef CONTROLCAN_H
+#define CONTROLCAN_H
+
+////文件版本：v2.02 20190609
+//接口卡类型定义
+
+#define VCI_USBCAN1       3
+#define VCI_USBCAN2       4
+#define VCI_USBCAN2A      4
+
+#define VCI_USBCAN_E_U    20
+#define VCI_USBCAN_2E_U   21
+
+//函数调用返回状态值
+#define    STATUS_OK                   1
+#define STATUS_ERR                    0
+    
+#define USHORT unsigned short int
+#define BYTE unsigned char
+#define CHAR char
+#define UCHAR unsigned char
+#define UINT unsigned int
+#define DWORD unsigned int
+#define PVOID void*
+#define ULONG unsigned int
+#define INT int
+#define UINT32 UINT
+#define LPVOID void*
+#define BOOL BYTE
+#define TRUE 1
+#define FALSE 0
+
+//1.ZLGCAN系列接口卡信息的数据类型。
+typedef  struct  _VCI_BOARD_INFO{
+        USHORT    hw_Version;
+        USHORT    fw_Version;
+        USHORT    dr_Version;
+        USHORT    in_Version;
+        USHORT    irq_Num;
+        BYTE      can_Num;
+        CHAR      str_Serial_Num[20];
+        CHAR      str_hw_Type[40];
+        USHORT    Reserved[4];
+} VCI_BOARD_INFO,*PVCI_BOARD_INFO; 
+
+//2.定义CAN信息帧的数据类型。
+typedef  struct  _VCI_CAN_OBJ{
+UINT    ID;
+UINT    TimeStamp;
+BYTE    TimeFlag;
+BYTE    SendType;
+BYTE    RemoteFlag;//是否是远程帧
+BYTE    ExternFlag;//是否是扩展帧
+BYTE    DataLen;
+BYTE    Data[8];
+BYTE    Reserved[3];
+}VCI_CAN_OBJ,*PVCI_CAN_OBJ;
+
+//3.定义初始化CAN的数据类型
+typedef struct _INIT_CONFIG{
+DWORD    AccCode;
+DWORD    AccMask;
+DWORD    Reserved;
+UCHAR    Filter;
+UCHAR    Timing0;    
+UCHAR    Timing1;    
+UCHAR    Mode;
+}VCI_INIT_CONFIG,*PVCI_INIT_CONFIG;
+
+///////// new add struct for filter /////////
+typedef struct _VCI_FILTER_RECORD{
+DWORD ExtFrame;  //是否为扩展帧
+DWORD Start;
+DWORD End;
+}VCI_FILTER_RECORD,*PVCI_FILTER_RECORD;
+
+#ifdef __cplusplus
+#define EXTERN_C  extern "C"
+#else
+#define EXTERN_C
+#endif
+
+EXTERN_C DWORD VCI_OpenDevice(DWORD DeviceType,DWORD DeviceInd,DWORD Reserved);
+EXTERN_C DWORD VCI_CloseDevice(DWORD DeviceType,DWORD DeviceInd);
+EXTERN_C DWORD VCI_InitCAN(DWORD DeviceType, DWORD DeviceInd, DWORD CANInd, PVCI_INIT_CONFIG pInitConfig);
+
+EXTERN_C DWORD VCI_ReadBoardInfo(DWORD DeviceType,DWORD DeviceInd,PVCI_BOARD_INFO pInfo);
+
+EXTERN_C DWORD VCI_SetReference(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,DWORD RefType,PVOID pData);
+
+EXTERN_C ULONG VCI_GetReceiveNum(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+EXTERN_C DWORD VCI_ClearBuffer(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+
+EXTERN_C DWORD VCI_StartCAN(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+EXTERN_C DWORD VCI_ResetCAN(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+
+EXTERN_C ULONG VCI_Transmit(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pSend,UINT Len);
+EXTERN_C ULONG VCI_Receive(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pReceive,UINT Len,INT WaitTime);
+
+EXTERN_C DWORD  VCI_UsbDeviceReset(DWORD DevType,DWORD DevIndex,DWORD Reserved);
+EXTERN_C DWORD  VCI_FindUsbDevice2(PVCI_BOARD_INFO pInfo);
+
+#endif // CONTROLCAN_H
+