RTCANController.hpp

#ifndef RTCANCONTROLLER_HPP_
#define RTCANCONTROLLER_HPP_

#include <rtt/NonPeriodicActivity.hpp>
#include "CANControllerInterface.hpp"
#include "CANBusInterface.hpp"
#include "CANMessage.hpp"

struct RTCANControllerPrivate;

namespace RTT
{
    namespace CAN
    {
        class RTCANController: public CANControllerInterface,
                public NonPeriodicActivity
        {
        public:
            RTCANController(int priority, std::string dev_name, int timeout);

            virtual ~RTCANController();

            // Redefine PeriodicActivity methods
            bool initialize();
            void loop();
            bool breakLoop();
            void finalize();

            // Redefine CANControllerInterface
            virtual void addBus(CANBusInterface* bus);
            virtual void process(const CANMessage* msg);
            bool readFromBuffer(void);

        private:
            RTCANControllerPrivate * const d;

        };
    }
}

#endif /* RTCANCONTROLLER_HPP_ */

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