Can bus interface

VisionPilot/Production_Releases/0.5/include/drivers/can_interface.hpp

@@ -0,0 +1,89 @@
+#ifndef AUTOWARE_POV_DRIVERS_CAN_INTERFACE_HPP_
+#define AUTOWARE_POV_DRIVERS_CAN_INTERFACE_HPP_
+
+#include <string>
+#include <optional>
+#include <fstream>
+#include <vector>
+#include <cmath>
+#include <limits>
+#include <chrono>
+
+namespace autoware_pov::drivers {
+
+struct CanVehicleState {
+    double speed_kmph = std::numeric_limits<double>::quiet_NaN();           // Speed, CAN ID 0xA1
+    double steering_angle_deg = std::numeric_limits<double>::quiet_NaN();   // Steering, CAN ID 0xA4
+    bool is_valid = false;
+};
+
+/**
+ * @brief CAN Interface for hardware (SocketCAN) and file replay (.asc)
+ * - If interface_name ends with ".asc" : file replay.
+ * - Otherwise : open a SocketCAN interface (real-time inference).
+ */
+class CanInterface {
+
+public:
+
+    /**
+     * @brief Constructor
+     * @param interface_name "can0", "vcan0", or path to .asc file (e.g. "./assets/test.asc")
+     */
+    explicit CanInterface(const std::string& interface_name);
+
+    ~CanInterface();
+
+    /**
+     * @brief Read available CAN frames and update state
+     * * Call this once per cycle in main loop.
+     * In real-time inference : reads all frames currently in the socket buffer.
+     * In fie replay : reads the next line from the ASC file.
+     * * @return true if new data was processed, false otherwise
+     */
+    bool update();
+
+    /**
+     * @brief Get latest decoded vehicle state
+     */
+    CanVehicleState getState() const;
+
+    /**
+     * @brief Check if in file replay
+     */
+    bool isReplayMode() const { return is_file_mode_; }
+
+private:
+
+    // State
+    CanVehicleState current_state_;
+    bool is_file_mode_ = false;
+
+    // Real-time inference (SocketCAN)
+    int socket_fd_ = -1;
+    void setupSocket(const std::string& iface_name);
+    bool readSocket();
+
+    // File replay (.asc)
+    std::ifstream file_stream_;
+    void setupFile(const std::string& file_path);
+    bool readFileLine();
+
+    // Decoding IDs
+    static constexpr int ID_SPEED = 0xA1;    // Or A1, 161
+    static constexpr int ID_STEERING = 0xA4; // Or A4, 164
+
+    void parseFrame(
+        int can_id, 
+        const std::vector<uint8_t>& data
+    );
+
+    double decodeSpeed(const std::vector<uint8_t>& data);
+
+    double decodeSteering(const std::vector<uint8_t>& data);
+
+};
+
+} // namespace autoware_pov::drivers
+
+#endif // AUTOWARE_POV_DRIVERS_CAN_INTERFACE_HPP_