YarpCanSenderDelegate.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __YARP_CAN_SENDER_DELEGATE_HPP__
#define __YARP_CAN_SENDER_DELEGATE_HPP__
 
#include <atomic>
#include <mutex>
#include <unordered_map>
 
#include <yarp/dev/CanBusInterface.h>
 
#include "ICanSenderDelegate.hpp"
 
namespace roboticslab
{
 
class YarpCanSenderDelegate : public ICanSenderDelegate
{
public:
    YarpCanSenderDelegate(yarp::dev::CanBuffer & _buffer, std::mutex & _bufferMutex,
            unsigned int & n, unsigned int size)
        : buffer(_buffer),
          bufferMutex(_bufferMutex),
          preparedMessages(n),
          maxSize(size),
          isActive(true)
    {}
 
    bool prepareMessage(const can_message & msg) override;
    void reportAvailability(bool available, unsigned int id) override;
 
private:
    yarp::dev::CanBuffer & buffer;
    std::mutex & bufferMutex;
    unsigned int & preparedMessages;
    unsigned int maxSize;
    std::atomic_bool isActive;
    std::unordered_map<unsigned int, bool> nodeAvailability;
};
 
} // namespace roboticslab
 
#endif // __YARP_CAN_SENDER_DELEGATE_HPP__