osaCANBus.h

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#ifndef _osaCANBus_h
#define _osaCANBus_h

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


class CISST_EXPORT osaCANBus {
  
 public:
  
  enum Rate { RATE_150 =150000, 
          RATE_300 =300000, 
          RATE_1000=1000000 };
  
  enum Errno { ESUCCESS, 
           EFAILURE };
  
  enum Flags{ MSG_NOFLAG   = 0x00,
              MSG_CONFIRM  = 0x01,   // ask for a confirmation 
          MSG_DONTWAIT = 0x02 }; // enables non-blocking operation

  enum Loopback{ LOOPBACK_ON, LOOPBACK_OFF };

 public:
  
  // CAN Filter
  class Filter {

  public:
    
    osaCANBusFrame::Mask mask;
    osaCANBusFrame::ID id;
    
    Filter( osaCANBusFrame::Mask mask, 
        osaCANBusFrame::ID id ) : mask( mask ), id( id ) {}
    
  };

 protected:
  
  osaCANBus::Rate rate;
  osaCANBus::Loopback loopback;

 public:
  

  osaCANBus( osaCANBus::Rate rate, 
        osaCANBus::Loopback loopback = osaCANBus::LOOPBACK_OFF );
  
  virtual ~osaCANBus();
  
  virtual osaCANBus::Errno Open() = 0;

  virtual osaCANBus::Errno Close() = 0;


  virtual osaCANBus::Errno Send( const osaCANBusFrame& frame, 
                osaCANBus::Flags flags=osaCANBus::MSG_NOFLAG )=0;


  virtual osaCANBus::Errno Recv( osaCANBusFrame& frame, 
                osaCANBus::Flags flags=osaCANBus::MSG_NOFLAG )=0;
  


  virtual osaCANBus::Errno AddFilter( const osaCANBus::Filter& filter ) = 0;

};


#endif // _osaCANBus_h