SocketCANController.hpp

#ifndef SOCKET_CAN_CONTROLLER_HPP
#define SOCKET_CAN_CONTROLLER_HPP

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

struct SocketCANControllerPrivate;

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

            virtual ~SocketCANController();

            // 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:
            SocketCANControllerPrivate * const d;

        };
    }
}
#endif

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