driver

Documentation

Index

• Constants
• type Adapter
  • func NewAdapter(dev CANDriver) (*Adapter, error)
  • func (t *Adapter) Close()
  • func (t *Adapter) RxFunc() (tp_layer.CanMessage, bool)
  • func (t *Adapter) TxFunc(msg tp_layer.CanMessage)
• type CANDriver
• type CanType
• type UnifiedCANMessage

Constants

const (
	RxChannelBufferSize = 1024                  // 接收通道缓冲区大小
	MsgBufferSize       = 1024                  // 消息缓冲区大小
	PollingInterval     = time.Millisecond      // 轮询间隔
	InitDelay           = 20 * time.Millisecond // 初始化延迟
)

缓冲区和轮询配置常量

Types

type Adapter

type Adapter struct {
	// contains filtered or unexported fields
}

Adapter 是连接 udsclient 和 can device 硬件的适配器

func NewAdapter

func NewAdapter(dev CANDriver) (*Adapter, error)

NewAdapter 是适配器的构造函数

func (*Adapter) Close

func (t *Adapter) Close()

Close 用于停止驱动并释放资源

func (*Adapter) RxFunc

func (t *Adapter) RxFunc() (tp_layer.CanMessage, bool)

RxFunc 是接收函数

func (*Adapter) TxFunc

func (t *Adapter) TxFunc(msg tp_layer.CanMessage)

TxFunc 是发送函数

type CANDriver

type CANDriver interface {
	Init() error
	Start()
	Stop()
	Write(id int32, data []byte) error
	RxChan() <-chan UnifiedCANMessage
	Context() context.Context
}

CANDriver 定义了CAN/CAN-FD驱动的统一接口

type CanType

type CanType byte

CanType 定义 CAN 类型 (与 Windows 版本保持一致)

const (
	CAN   CanType = 0
	CANFD CanType = 1
)

type UnifiedCANMessage

type UnifiedCANMessage struct {
	ID   uint32
	DLC  byte
	Data [64]byte // 使用64字节以兼容CAN-FD
	IsFD bool     // 标志位，用于区分是CAN还是CAN-FD消息
}

UnifiedCANMessage 是一个通用的CAN/CAN-FD消息结构体，用于在channel中传递,它屏蔽了底层 CAN_MSG 和 CANFD_MSG 的差异。