CanMsg.h

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/* -----------------------------------------------------------------------------------
 *
 *              Copyright (c) 2005 Neobotix (www.neobotix.de)
 *
 *      This software is allowed to be used and modified only in association with a Neobotix
 *      robot platform. It is allowed to include the software into applications and
 *      to distribute it with a Neobotix robot platform. 
 *      It is not allowed to distribute the software without a Neobotix robot platform. 
 *
 *      This software is provided WITHOUT ANY WARRANTY; without even the
 *              implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 *              PURPOSE. See the Neobotix License (Version 1.0) for more details.
 *
 *      You should have received a copy of the Neobotix License
 *      along with this software; if not, write to the 
 *      Gesellschaft fuer Produktionssysteme, Neobotix, Nobelstrasse 12, 70569 Stuttgart, Germany
 *
 * -----------------------------------------------------------------------------------
 */


#ifndef CANMSG_INCLUDEDEF_H
#define CANMSG_INCLUDEDEF_H
//-----------------------------------------------

//#include "stdafx.h"
#include <stdint.h>
#define BYTE uint8_t 

#include <iostream>
//-----------------------------------------------

class CanMsg
{
public:
        int m_iID;
        int m_iLen;
        int m_iType;

protected:
        BYTE m_bDat[8];

public:
        CanMsg()
        {
                m_iID = 0;
                m_iLen = 8;
                m_iType = 0x00;
        }

        void set(BYTE Data0=0, BYTE Data1=0, BYTE Data2=0, BYTE Data3=0, BYTE Data4=0, BYTE Data5=0, BYTE Data6=0, BYTE Data7=0)
        {
                m_bDat[0] = Data0;
                m_bDat[1] = Data1;
                m_bDat[2] = Data2;
                m_bDat[3] = Data3;
                m_bDat[4] = Data4;
                m_bDat[5] = Data5;
                m_bDat[6] = Data6;
                m_bDat[7] = Data7;
        }

        void setAt(BYTE data, int iNr)
        {
                m_bDat[iNr] = data;
        }

        void get(BYTE* pData0, BYTE* pData1, BYTE* pData2, BYTE* pData3, BYTE* pData4, BYTE* pData5, BYTE* pData6, BYTE* pData7)
        {
                *pData0 = m_bDat[0];
                *pData1 = m_bDat[1];
                *pData2 = m_bDat[2];
                *pData3 = m_bDat[3];
                *pData4 = m_bDat[4];
                *pData5 = m_bDat[5];
                *pData6 = m_bDat[6];
                *pData7 = m_bDat[7];
        }

        int getAt(int iNr)
        {
                return m_bDat[iNr];
        }

        int printCanIdentMsgStatus()
        {
                if(getStatus() == 0)
                {
                        std::cout <<"ID= " << m_iID << "  " << "Cmd= " << getCmd() << "   " << "Msg_OK" << std::endl;
                        return 0;
                }
                else
                {
                        std::cout << "ID= " << m_iID << "  " << "Cmd= " << getCmd() << "   " << "Msg_Error" << std::endl;
                        return -1;
                }
        }

        void print()
        {
                std::cout << "id= " << m_iID << " type= " << m_iType << " len= " << m_iLen << " data= " <<
                        (int)m_bDat[0] << " " << (int)m_bDat[1] << " " << (int)m_bDat[2] << " " << (int)m_bDat[3] << " " <<
                        (int)m_bDat[4] << " " << (int)m_bDat[5] << " " << (int)m_bDat[6] << " " << (int)m_bDat[7] << std::endl;
        }

        int getStatus()
        {
                //bit 0 and bit 1 contain MsgStatus
                return (int)(m_bDat[7] & 0x0003);
        }

        int getCmd()
        {
                return (m_bDat[7] >> 2);
        }
        
        int getID()
        {
                return m_iID;
        }

        void setID(int id)
        {
                if( (0 <= id) && (id <= 2047) )
                        m_iID = id;
        }

        int getLength()
        {
                return m_iLen;
        }

        void setLength(int len)
        {
                if( (0 <= len) && (len <= 8) )
                        m_iLen = len;
        }

        int getType()
        {
                return m_iType;
        }

        void setType(int type)
        {
                m_iType = type;
        }


};
//-----------------------------------------------
#endif

---

cob_forcetorque
Author(s): Alexander Bubeck
autogenerated on Fri Jan 11 09:54:27 2013