ICanBusSharer.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __I_CAN_BUS_SHARER_HPP__
#define __I_CAN_BUS_SHARER_HPP__
 
#include <vector>
 
#include "ICanMessageNotifier.hpp"
#include "ICanSenderDelegate.hpp"
 
namespace roboticslab
{
 
class ICanBusSharer : public ICanMessageNotifier
{
public:
    virtual ~ICanBusSharer() = default;
 
    virtual unsigned int getId() = 0;
 
    virtual std::vector<unsigned int> getAdditionalIds()
    { return {}; }
 
    virtual bool initialize() = 0;
 
    virtual bool finalize() = 0;
 
    virtual bool registerSender(ICanSenderDelegate * sender) = 0;
 
    virtual bool synchronize(double timestamp) = 0;
};
 
} // namespace roboticslab
 
#endif // __I_CAN_BUS_SHARER_HPP__