mtsCANBus.h

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/*

  Author(s): Simon Leonard
  Created on: Dec 02 2009

  (C) Copyright 2009 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/


#ifndef _mtsCANBus_h
#define _mtsCANBus_h

#include <cisstMultiTask/mtsComponent.h>
#include <cisstMultiTask/mtsInterfaceProvided.h>

#include <sawCANBus/osaCANBus.h>
#include <sawCANBus/mtsCANBusFrame.h>
#include <sawCANBus/sawCANBusExport.h>


class CISST_EXPORT mtsCANBus : public mtsComponent{
  
  CMN_DECLARE_SERVICES( CMN_NO_DYNAMIC_CREATION, CMN_LOG_LOD_RUN_ERROR );

 private:


  osaCANBus* can;

  void mtsOpen();

  void mtsClose();

  void mtsRead( mtsCANBusFrame &frame ) const;

  void mtsWrite( const mtsCANBusFrame &frame );

 protected:

  mtsInterfaceProvided* io;

  mtsInterfaceProvided* ctl;

 public:
  
  // Main constructor
  mtsCANBus( const std::string& componentname, osaCANBus* can );

};

CMN_DECLARE_SERVICES_INSTANTIATION( mtsCANBus )

#endif