CanOpenReceiveThread.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK Canopen Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef CANOPENRECEIVETHREAD_H
#define CANOPENRECEIVETHREAD_H

#include <boost/thread.hpp>

#include <icl_core/TimeSpan.h>

#include <icl_hardware_can/tCanMessage.h>
#include <icl_hardware_can/tCanDevice.h>

namespace icl_hardware {
namespace canopen_schunk {

typedef boost::function<void (const icl_hardware::can::tCanMessage& msg)> ReceivedPacketCallback;

class CanOpenReceiveThread
{
public:
  CanOpenReceiveThread( const icl_core::TimeSpan& period,
                        const boost::shared_ptr< icl_hardware::can::tCanDevice >& can_device,
                        const ReceivedPacketCallback& received_callback );

  virtual ~CanOpenReceiveThread();

  void stop();

private:
  void workerFunction();
  int32_t receiveData();

  int32_t m_period_time_ms;

  boost::shared_ptr<icl_hardware::can::tCanDevice> m_can_device;

  ReceivedPacketCallback m_received_callback;

  boost::thread m_thread;

  icl_hardware::can::tCanMessage m_can_msg;
};



}} // end of NS

#endif // CANOPENRECEIVETHREAD_H