CANUSB.h

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* Author: Gonçalo Cabrita on 01/03/2012
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#include <stdexcept>
#include <termios.h>
#include <string>
#include <vector>

#include <boost/function.hpp>

#include <cereal_port/CerealPort.h>

#define CANUSB_ERROR   7       // <BELL>
#define CANUSB_OK      13      // <CR>

typedef enum CANUSB_BitRate_
{
    BIT_RATE_10Kbps = 0,
    BIT_RATE_20Kbps = 1,
    BIT_RATE_50Kbps = 2,
    BIT_RATE_100Kbps = 3,
    BIT_RATE_125Kbps = 4,
    BIT_RATE_250Kbps = 5,
    BIT_RATE_500Kbps = 6,
    BIT_RATE_800Kbps = 7,
    BIT_RATE_1000Kbps = 8
    
} CANUSB_BitRate;

class CANUSB
{
    
public:
    CANUSB(std::string * serial_port_name, boost::function<void(std::string*)> f);
    ~CANUSB();


    bool openCANBus(CANUSB_BitRate bit_rate);
    

    bool closeCANBus();
    
    bool CANBusOpen() { return open_; }
    

    bool reset();
    

    bool setCANBitRate(CANUSB_BitRate bit_rate);
    CANUSB_BitRate getCANBitRate() { return bit_rate_; }
    

    bool transmitStandardFrame(std::string * frame);
    

    bool transmitExtendedFrame(std::string * frame);
    
    int getVersion();
    int getSerialNumber();
    
    
private:

    void newFrameCallback(std::string * frame);
    
    CANUSB_BitRate bit_rate_;
    
    bool open_;
    
    cereal::CerealPort serial_port_;
                
    boost::function<void(std::string*)> receivedFrameCallback;
};

// EOF