CanMsg.h

Go to the documentation of this file.

/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob3_common
 * ROS package name: generic_can
 * Description:
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Christian Connette, email:christian.connette@ipa.fhg.de
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: Feb 2009
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/


#ifndef CANMSG_INCLUDEDEF_H
#define CANMSG_INCLUDEDEF_H
//-----------------------------------------------
#include <iostream>
//-----------------------------------------------

class CanMsg
{
public:
        typedef unsigned char BYTE;
        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