barrett::bus::CANSocket Class Reference

Inheritance diagram for barrett::bus::CANSocket:

List of all members.

Public Member Functions
	CANSocket ()
	CANSocket (int port) throw (std::runtime_error)
virtual thread::RealTimeMutex &	getMutex () const
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
Static Public Attributes
static const size_t	MAX_MESSAGE_LEN = 8
Protected Attributes
thread::RealTimeMutex	mutex
detail::can_handle *	handle

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Constructor & Destructor Documentation

barrett::bus::CANSocket::CANSocket

(

)

The maximum length of a CANbus message. Make sure to update CommunicationsBus::MAX_MESSAGE_LEN! CANSocket() Constructors

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Member Function Documentation

void barrett::bus::CANSocket::close

(

)

[virtual]

close() method destorys socket communication port.

Implements barrett::bus::CommunicationsBus.

virtual thread::RealTimeMutex& barrett::bus::CANSocket::getMutex

(

)

const [inline, virtual]

getMutex() method gets and locks interthread data exchange assuring nothing critical is happening in either thread.

Implements barrett::bus::CommunicationsBus.

bool barrett::bus::CANSocket::isOpen

(

)

const [virtual]

isOpen() method returns a flag signifying socket Communication is open.

Implements barrett::bus::CommunicationsBus.

void barrett::bus::CANSocket::open

(

int

port

)

throw (std::logic_error, std::runtime_error) [virtual]

open() method creates socket communication on a specific port.

Implements barrett::bus::CommunicationsBus.

int barrett::bus::CANSocket::receiveRaw	(	int &	busId,
		unsigned char *	data,
		size_t &	len,
		bool	blocking = true
	)		const [virtual]

receiveRaw() method loads data from socket buffer in a realtime safe manner.

Implements barrett::bus::CommunicationsBus.

int barrett::bus::CANSocket::send	(	int	busId,
		const unsigned char *	data,
		size_t	len
	)		const [virtual]

send() method pushes data onto socket.

Implements barrett::bus::CommunicationsBus.

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The documentation for this class was generated from the following files:

• include/barrett/bus/can_socket.h
• src/bus/can_socket-linux.cpp
• src/bus/can_socket-rtcan.cpp