include/barrett/bus/can_socket.h

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#ifndef BARRETT_BUS_CAN_SOCKET_H_
#define BARRETT_BUS_CAN_SOCKET_H_


#include <stdexcept>

#include <barrett/detail/ca_macro.h>
#include <barrett/thread/real_time_mutex.h>
#include <barrett/bus/abstract/communications_bus.h>


namespace barrett {
namespace bus {


namespace detail {
struct can_handle;  // OS-dependent implementation
}


// TODO(dc): expose a receive timeout option?
class CANSocket : public CommunicationsBus {
public:
        
        static const size_t MAX_MESSAGE_LEN = 8;  
        CANSocket();
        CANSocket(int port) throw(std::runtime_error);
        ~CANSocket();
        virtual thread::RealTimeMutex& getMutex() const { return mutex; }
        virtual void open(int port) throw(std::logic_error, std::runtime_error);
        virtual void close();
        virtual bool isOpen() const;
        virtual int send(int busId, const unsigned char* data, size_t len) const;
        virtual int receiveRaw(int& busId, unsigned char* data, size_t& len, bool blocking = true) const;

protected:
        mutable thread::RealTimeMutex mutex;
        detail::can_handle* handle;

private:
        DISALLOW_COPY_AND_ASSIGN(CANSocket);
};


}
}


#endif /* BARRETT_BUS_CAN_SOCKET_H_ */