LaunchCanBus.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __LAUNCH_CAN_BUS_HPP__
#define __LAUNCH_CAN_BUS_HPP__
 
#include <yarp/os/RFModule.h>
#include <yarp/dev/PolyDriverList.h>
 
namespace roboticslab
{
 
class LaunchCanBus : public yarp::os::RFModule
{
public:
    ~LaunchCanBus() override
    { close(); }
 
    bool configure(yarp::os::ResourceFinder &rf) override;
    double getPeriod() override;
    bool updateModule() override;
    bool close() override;
 
private:
    yarp::dev::PolyDriverList canDevices;
    yarp::dev::PolyDriverList mapperDevices;
    yarp::dev::PolyDriverList wrapperDevices;
    yarp::dev::PolyDriverList calibratorDevices;
};
 
} // namespace roboticslab
 
#endif // __LAUNCH_CAN_BUS_HPP__