osaSocketCAN.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 _osaSocketCAN_h
#define _osaSocketCAN_h

#include <sys/socket.h>
#include <sys/types.h>
#include <sys/ioctl.h>

#include <linux/can.h>
#include <linux/can/raw.h>
#include <linux/can/error.h>
#include <linux/if.h>

#include <sawCANBus/osaCANBus.h>       // the CAN base class
#include <sawCANBus/sawCANBusExport.h>


class CISST_EXPORT osaSocketCAN : public osaCANBus {

 private:
  
  std::string devicename;
  
  int canfd;


  static const size_t MAX_NUM_FILTERS = 32;
  struct can_filter filters[MAX_NUM_FILTERS];
  size_t filterscnt;

public:


  osaSocketCAN( const std::string& devicename, 
          osaCANBus::Rate rate,
          osaCANBus::Loopback loopback = osaCANBus::LOOPBACK_OFF );
  
  ~osaSocketCAN();


  osaCANBus::Errno Open();

  osaCANBus::Errno Close();


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


  osaCANBus::Errno Recv( osaCANBusFrame& frame, 
            osaCANBus::Flags flags = osaCANBus::MSG_NOFLAG );
  
  osaCANBus::Errno AddFilter( const osaCANBus::Filter& filter );

};

#endif