DumpCanBus.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __DUMP_CAN_BUS_HPP__
#define __DUMP_CAN_BUS_HPP__
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Port.h>
#include <yarp/os/PortReaderBuffer.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/TypedReaderCallback.h>
 
namespace roboticslab
{
 
class DumpCanBus : public yarp::os::RFModule,
                   public yarp::os::TypedReaderCallback<yarp::os::Bottle>
{
public:
    ~DumpCanBus() override
    { close(); }
 
    bool configure(yarp::os::ResourceFinder & rf) override;
 
    bool updateModule() override
    { return true; }
 
    bool close() override;
 
    void onRead(yarp::os::Bottle & b) override;
 
private:
    void printMessage(const yarp::os::Bottle & b, const yarp::os::Stamp & stamp);
 
    yarp::os::Port port;
    yarp::os::PortReaderBuffer<yarp::os::Bottle> portReader;
    bool useCanOpen;
    bool printTimestamp;
};
 
} // namespace roboticslab
 
#endif // __DUMP_CAN_BUS_HPP__