pcan_transmit.h

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// INCLUDE

#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <unistd.h>   // exit
#include <signal.h>
#include <string.h>
#include <stdlib.h>   // strtoul
#include <fcntl.h>    // O_RDWR
#include "common.h"
#include <ctype.h>
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>

// DEFINES

#define DEFAULT_NODE "/dev/pcan32"


class pcan_transmit
{
protected:
        HANDLE h;
        ros::NodeHandle n;
        ros::Subscriber pcan_sub;
        std_msgs::String msg;
        std::stringstream ss;
public:
        pcan_transmit();
        void hlpMsg();
        void init(int argc, char **argv);
        void transmit(const std_msgs::String can_message);
        TPCANMsg StringToTPCANRdMsg(std_msgs::String msg);
};