gyro_board/src/libusb-driver/get.h

#ifndef GET_H_
#define GET_H_

#include <sys/socket.h>
#include <linux/can.h>

#include <memory>

#include "aos/common/util/thread.h"

#include "libusb_wrap.h"

class DbgReader;

class GyroDriver {
 public:
  // Constructs a GyroDriver.
  // GyroDriver takes ownership of the device handle.
  explicit GyroDriver(LibUSBDeviceHandle *dev_handle);
  virtual ~GyroDriver();

  // Queues a CAN frame.  The driver will copy the frame to reduce memory churn
  // and non-realtime behavior associated with allocating and deallocating the
  // messages.
  // Returns true if the message was queued and false otherwise.
  bool QueueCanFrame(const struct can_frame &msg);

  // Returns 1 packet worth of debug data from the bulk debug channel.
  std::string GetDebugData();

  // Waits until a CAN frame is available and returns it.
  // Returns true if we got a frame and false if we were interrupted.
  bool GetCanFrame(struct can_frame *msg);

  // Terminates the rx and tx threads in preperation for shutdown.
  // Not safe for use in signal handlers.
  void Terminate();

  void Start();

 private:
  // Class that runs in a seperate thread and receives and queues all messages.
  class PacketReceiver;

  // USB Device handle.
  std::unique_ptr<LibUSBDeviceHandle> dev_handle_;
  // Handle for the object run in the debug thread which prints out debug
  // information.
  std::unique_ptr<DbgReader> dbg_;

  // Handle for the transmit object which runs in the transmit thread and also
  // handles priority queueing of packets.
  //std::unique_ptr<PacketTransmitter> tx_;
  // Thread handle for the transmit thread.
  //std::unique_ptr<boost::thread> tx_thread_;

  // Handle for the rx object which runs in the rx thread and also
  // handles priority queueing of packets.
  std::unique_ptr<PacketReceiver> rx_;
};

class DbgReader : public ::aos::util::Thread {
 public:
  explicit DbgReader(GyroDriver *dev_handle);

  // Serve.
  virtual void Run();

 private:
  GyroDriver *gyro_;
};

#endif  // GET_H_