SocketCan.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
 
#ifndef __SOCKETCANH__
#define __SOCKETCANH__
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/CanBusInterface.h>
 
#include "memory.h"
#include <sys/types.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
 
namespace yarp{
    namespace dev{
        class SocketCan;
        class SocketCanMessage;
    }
}
 
class yarp::dev::SocketCanMessage:public yarp::dev::CanMessage
{
public:
    struct can_frame *msg;
 
public:
    SocketCanMessage()
    {
        msg=0;
    }
 
    virtual ~SocketCanMessage()
    {
    }
 
    virtual CanMessage &operator=(const CanMessage &l)
    {
        const SocketCanMessage &tmp=dynamic_cast<const SocketCanMessage &>(l);
        memcpy(msg, tmp.msg, sizeof(struct can_frame));
        return *this;
    }
 
    virtual unsigned int getId() const
    { return msg->can_id;}
 
    virtual unsigned char getLen() const
    { return msg->can_dlc;}
 
    virtual void setLen(unsigned char len)
    { msg->can_dlc=len;}
 
    virtual void setId(unsigned int id)
    { msg->can_id=id;}
 
    virtual const unsigned char *getData() const
    { return msg->data; }
 
    virtual unsigned char *getData()
    { return msg->data; }
 
    virtual unsigned char *getPointer()
    { return (unsigned char *) msg; }
 
    virtual const unsigned char *getPointer() const
    { return (const unsigned char *) msg; }
 
    virtual void setBuffer(unsigned char *b)
    { 
        if (b!=0)
            msg=(can_frame *)(b);
    }
};
 
class yarp::dev::SocketCan: public ImplementCanBufferFactory<SocketCanMessage, can_frame>,
    public ICanBus, 
    public DeviceDriver
{
private:
    int skt;
public:
    SocketCan();
    ~SocketCan();
 
    /* ICanBus */
    virtual bool canSetBaudRate(unsigned int rate);
    virtual bool canGetBaudRate(unsigned int *rate);
    virtual bool canIdAdd(unsigned int id);
    virtual bool canIdDelete(unsigned int id);
 
    virtual bool canRead(CanBuffer &msgs, 
        unsigned int size, 
        unsigned int *read,
        bool wait=false);
 
    virtual bool canWrite(const CanBuffer &msgs,
        unsigned int size,
        unsigned int *sent,
        bool wait=false);
 
    /*Device Driver*/
    virtual bool open(yarp::os::Searchable &par);
    virtual bool close();
 
};
 
#endif