osaRTSocketCAN.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 _osaRTSocketCAN_h
#define _osaRTSocketCAN_h

#include <sawCANBus/osaCANBus.h>       // the CAN base class
#include <rtdm/rtcan.h>            // Defines for the RT CAN socket

#include <sawCANBus/sawCANBusExport.h>


class CISST_EXPORT osaRTSocketCAN : public osaCANBus {

 private:
  
  std::string devicename;
  
  int canfd;

  struct sockaddr_can addr;


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

public:


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


  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