osaCANBusFrame Class Reference

CAN frame implementation. More...

#include <osaCANBusFrame.h>

Inheritance diagram for osaCANBusFrame:

Public Types
typedef unsigned short	ID
	The id of a CAN frame. More...
typedef unsigned short	Mask
typedef unsigned char	Data
	The data type. More...
typedef Data	DataField [8]
	The field of data. More...
typedef unsigned char	DataLength
	The data length type. More...

Public Member Functions
	osaCANBusFrame ()
	Default constructor. More...
	osaCANBusFrame (ID canid, DataField data, DataLength nbytes)
	Overloaded constructor. More...
	osaCANBusFrame (ID canid, const vctDynamicVector< Data > &data)
ID	GetID () const
	Return the identifier of the frame. More...
DataLength	GetLength () const
	Return the length in bytes of the data. More...
Data *	GetData ()
	Return a pointer to the data. More...
const Data *	GetData () const
	Return a const pointer to the data. More...

Protected Attributes
ID	id
	The ID of the node origin. More...
DataField	data
	The message (8 bytes) More...
DataLength	nbytes
	The lenght of the message in bytes. More...

Friends
std::ostream &	operator<< (std::ostream &os, const osaCANBusFrame &frame)
	Output the can frame. More...

Detailed Description

CAN frame implementation.

This defines a basic CAN frame. It does not support the extended frame format. The frame is composed of an identifier, 8 bytes of data and a data length. A CAN frame contain an 11 bits identifier, 0-8 bytes of data and a data length code (0-8). This class does not support the extended frame format.

Member Typedef Documentation

typedef unsigned char osaCANBusFrame::Data

The data type.

typedef Data osaCANBusFrame::DataField[8]

The field of data.

typedef unsigned char osaCANBusFrame::DataLength

The data length type.

typedef unsigned short osaCANBusFrame::ID

The id of a CAN frame.

A CAN ID has 11 bits so we use 16 bits to represent a CAN id of which only the 11 LSB are used.

typedef unsigned short osaCANBusFrame::Mask

Constructor & Destructor Documentation

osaCANBusFrame::osaCANBusFrame

(

)

Default constructor.

Set the IDs to "0" the message length to "0" and all the message bytes to "0"

osaCANBusFrame::osaCANBusFrame	(	ID	canid,
		DataField	data,
		DataLength	nbytes
	)

Overloaded constructor.

Set the id of the CAN frame and the message

osaCANBusFrame::osaCANBusFrame	(	ID	canid,
		const vctDynamicVector< Data > &	data
	)

Member Function Documentation

Data* osaCANBusFrame::GetData ( void  )

inline

Return a pointer to the data.

const Data* osaCANBusFrame::GetData ( void  ) const

inline

Return a const pointer to the data.

ID osaCANBusFrame::GetID ( ) const

inline

Return the identifier of the frame.

DataLength osaCANBusFrame::GetLength ( ) const

inline

Return the length in bytes of the data.

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  os, const osaCANBusFrame &  frame  )

friend

Output the can frame.

Prints out the frame's identifier, data length and data

Parameters

os[in]	An ouptput stream
cf[in]	A CAN frame

Member Data Documentation

DataField osaCANBusFrame::data

protected

The message (8 bytes)

ID osaCANBusFrame::id

protected

The ID of the node origin.

DataLength osaCANBusFrame::nbytes

protected

The lenght of the message in bytes.

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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/osaCANBusFrame.h