PeakCanMessage.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __PEAK_CAN_MESSAGE__
#define __PEAK_CAN_MESSAGE__
 
#include <yarp/dev/CanBusInterface.h>
 
// upstream bug in the Peak API header, v8.5.1
#include <sys/time.h>
 
#include <pcanfd.h>
 
namespace roboticslab
{
 
class PeakCanMessage : public yarp::dev::CanMessage
{
public:
    PeakCanMessage();
    ~PeakCanMessage() override;
    yarp::dev::CanMessage & operator=(const yarp::dev::CanMessage & l) override;
 
    unsigned int getId() const override;
    unsigned char getLen() const override;
    void setLen(unsigned char len) override;
    void setId(unsigned int id) override;
    const unsigned char * getData() const override;
    unsigned char * getData() override;
    unsigned char * getPointer() override;
    const unsigned char * getPointer() const override;
    void setBuffer(unsigned char * buf) override;
 
private:
    struct pcanfd_msg * message;
};
 
} // namespace roboticslab
 
#endif // __PEAK_CAN_MESSAGE__