00001 00024 #ifndef PUMA_MOTOR_DRIVER_GATEWAY_H 00025 #define PUMA_MOTOR_DRIVER_GATEWAY_H 00026 00027 #include "puma_motor_driver/can_proto.h" 00028 #include "puma_motor_driver/message.h" 00029 00030 #include <stdint.h> 00031 00032 00033 namespace puma_motor_driver 00034 { 00035 00036 class Gateway 00037 { 00038 public: 00039 virtual bool connect() = 0; 00040 virtual bool isConnected() = 0; 00041 00045 virtual void queue(const Message& msg) = 0; 00046 00050 virtual bool sendAllQueued() = 0; 00051 00058 virtual bool recv(Message* msg) = 0; 00059 }; 00060 00061 } // namespace puma_motor_driver 00062 00063 #endif // PUMA_MOTOR_DRIVER_GATEWAY_H