fakeBoard.h

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/*
 * Copyright (C) 2008 RobotCub Consortium
 * Author: Lorenzo Natale
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#ifndef __FAKEBOARD__
#define __FAKEBOARD__
 
#include <yarp/os/PeriodicThread.h>
#include "msgList.h"
 
class FakeBoard: public yarp::os::PeriodicThread
{
    int canId;
    MsgList inMessages;
    MsgList *outMessages;
 
public:
    FakeBoard(int id=0, int p=100);
 
    ~FakeBoard();
 
    bool threadInit();
 
    void threadRelease();
 
    void setId(int id)
    {
        canId=id;
    }
 
    void setReplyFifo(MsgList *outBuffer)
    {
        outMessages=outBuffer;
    }
 
    void pushMessage(const FCMSG &msg)
    {
        inMessages.lock();
        inMessages.push_back(msg);
        inMessages.unlock();
    }
 
    void run();
};
 
#endif