osaCANBus Class Reference

Generic CAN bus. More...

#include <osaCANBus.h>

Inheritance diagram for osaCANBus:

Classes
class	Filter

Public Types
enum	Rate { RATE_150 =150000, RATE_300 =300000, RATE_1000 =1000000 }
	The different CAN rates. More...
enum	Errno { ESUCCESS, EFAILURE }
	The different CAN rates. More...
enum	Flags { MSG_NOFLAG = 0x00, MSG_CONFIRM = 0x01, MSG_DONTWAIT = 0x02 }
enum	Loopback { LOOPBACK_ON, LOOPBACK_OFF }

Public Member Functions
	osaCANBus (osaCANBus::Rate rate, osaCANBus::Loopback loopback=osaCANBus::LOOPBACK_OFF)
	Default constructor. More...
virtual	~osaCANBus ()
	Default destructor. More...
virtual osaCANBus::Errno	Open ()=0
	Open the CAN device. More...
virtual osaCANBus::Errno	Close ()=0
	Close the CAN device. More...
virtual osaCANBus::Errno	Send (const osaCANBusFrame &frame, osaCANBus::Flags flags=osaCANBus::MSG_NOFLAG)=0
	Send a CAN frame on the bus. More...
virtual osaCANBus::Errno	Recv (osaCANBusFrame &frame, osaCANBus::Flags flags=osaCANBus::MSG_NOFLAG)=0
	Receive a CAN frame. More...
virtual osaCANBus::Errno	AddFilter (const osaCANBus::Filter &filter)=0
	Add a CAN filter to the device. More...

Protected Attributes
osaCANBus::Rate	rate
	The rate of the device. More...
osaCANBus::Loopback	loopback

Detailed Description

Generic CAN bus.

The only thing this class does is to define the interface that must be implemented by a CAN bus. Any implementation of a CAN device depends on an actual device driver.

Member Enumeration Documentation

enum osaCANBus::Errno

The different CAN rates.

Enumerator
ESUCCESS
EFAILURE

enum osaCANBus::Flags

Enumerator
MSG_NOFLAG
MSG_CONFIRM
MSG_DONTWAIT

enum osaCANBus::Loopback

Enumerator
LOOPBACK_ON
LOOPBACK_OFF

enum osaCANBus::Rate

The different CAN rates.

Enumerator
RATE_150
RATE_300
RATE_1000

Constructor & Destructor Documentation

osaCANBus::osaCANBus	(	osaCANBus::Rate	rate,
		osaCANBus::Loopback	loopback = osaCANBus::LOOPBACK_OFF
	)

Default constructor.

Initialize a CAN device with the given rate

Parameters

rate	The CAN rate

virtual osaCANBus::~osaCANBus ( )

virtual

Default destructor.

Member Function Documentation

virtual osaCANBus::Errno osaCANBus::AddFilter ( const osaCANBus::Filter &  filter )

pure virtual

Add a CAN filter to the device.

Call this method to add a CAN filter to the device. This is OS and dependant as it typically interacts with the driver to screen CAN frames.

Implemented in osaSocketCAN, osaRTSocketCAN, and osaBitCtrl.

virtual osaCANBus::Errno osaCANBus::Close ( )

pure virtual

Close the CAN device.

Implemented in osaSocketCAN, osaRTSocketCAN, and osaBitCtrl.

virtual osaCANBus::Errno osaCANBus::Open ( )

pure virtual

Open the CAN device.

Implemented in osaSocketCAN, osaRTSocketCAN, and osaBitCtrl.

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

pure virtual

Receive a CAN frame.

Call this method to receive a CAN frame. The method can be blocking.

Parameters

frame[out]	The CAN frame received from the bus
block	Block the device until a CAN frame is received

Implemented in osaSocketCAN, osaRTSocketCAN, and osaBitCtrl.

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

pure virtual

Send a CAN frame on the bus.

Call this method to send a CAN frame on the bus. The method can be blocking

Parameters

frame[in]	The CAN frame to send on the bus
block	Block the device until the operation is completed

Implemented in osaSocketCAN, osaRTSocketCAN, and osaBitCtrl.

Member Data Documentation

osaCANBus::Loopback osaCANBus::loopback

protected

osaCANBus::Rate osaCANBus::rate

protected

The rate of the device.

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The documentation for this class was generated from the following file:

• /home/adeguet1/catkin_ws/src/cisst-saw/sawCANBus/include/sawCANBus/osaCANBus.h