osaCANBusFrame.h

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#ifndef _osaCANBusFrame_h
#define _osaCANBusFrame_h

#include <cisstVector.h>
#include <sawCANBus/sawCANBusExport.h>


class CISST_EXPORT osaCANBusFrame {
  
 public:
  

  typedef unsigned short ID;
  
  typedef unsigned short Mask;
  
  typedef unsigned char Data;
  
  typedef Data DataField[8];
  
  typedef unsigned char DataLength;
  
 protected:
  
  ID id;
  
  DataField data;
  
  DataLength nbytes;
  
 public:
  
  

  osaCANBusFrame();
  

  osaCANBusFrame( ID canid, DataField data, DataLength nbytes );
  
  osaCANBusFrame( ID canid, const vctDynamicVector<Data>& data );
  
  ID GetID() const { return id; }
  
  DataLength GetLength() const { return nbytes; }
  
  Data* GetData() { return  &(data[0]); }
  
  const Data* GetData() const { return  &(data[0]); }
  

  friend std::ostream& operator<<(std::ostream& os, const osaCANBusFrame& frame){
    os <<"ID: 0x" 
       << std::hex << std::setfill('0') << std::setw(4) 
       << (int)frame.GetID() << std::endl
       << "Length: " << (int)frame.GetLength() << std::endl 
       << "Data: ";
    for( DataLength i=0; i<frame.GetLength(); i++ )
      os << "0x" << std::hex << std::setfill('0') << std::setw(2) 
     << (int)(frame.data[i]) << " ";
    os << std::dec;
    return os;
  }
  
}; // Frame

#endif