zmv
f87e5aad40
Send 0x1F6 risk updates through a bounded latest-result worker on CH0 and disable CH1 initialization, reception, transmission and live display. Preserve the four actual-position bytes from 0x391 and recorded-session compatibility. Include regression coverage, Orin camera/TensorRT/CAN validation, and the verified standalone binary with refreshed checksums.
37 lines
1.5 KiB
C++
37 lines
1.5 KiB
C++
#pragma once
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#include "can_types.hpp"
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#include <memory>
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#include <string_view>
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namespace cms {
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// One lifecycle per instance; only one owner per device index in a process.
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// start() must run after StopSignals so the receiver inherits its signal mask.
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// Missing hardware is reported by snapshot(), and does not stop inference.
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class CanBus {
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public:
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explicit CanBus(CanConfig config);
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~CanBus();
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CanBus(CanBus const&)=delete;
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CanBus& operator=(CanBus const&)=delete;
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void start();
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void requestStop() noexcept;
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void join() noexcept;
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CanSnapshot snapshot() const;
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// Thread-safe on-demand data-frame send; invalid frames throw, SDK failure
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// returns false. Never generates periodic or inference-triggered messages.
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bool send(CanFrame const& frame);
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// Send one standard 8-byte 0x1F6 frame on CH0. Both nibbles of
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// data[0] contain 0 for "clear", 1 for every other level (including
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// unavailable): 0x00 or 0x11. Bytes 1-7 are zero. Returns {CH0 result, false};
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// the second slot is retained for API compatibility, CH1 is never sent.
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std::array<bool,2> sendRisk(std::string_view riskLevel);
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// Nonblocking live-inference path. Keeps at most one pending risk result;
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// a newer result replaces one waiting behind a slow SDK send. Returns
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// queue acceptance, not delivery. No timer or retransmission of old risk.
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bool queueRisk(std::string_view riskLevel);
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private:
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struct Impl;
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std::unique_ptr<Impl> impl_;
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};
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}
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