CObservationCANBusJ1939.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationCANBusJ1939_H
#define CObservationCANBusJ1939_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/slam/CObservation.h>

namespace mrpt
{
namespace slam
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationCANBusJ1939 , CObservation, OBS_IMPEXP)

        /** This class stores a message from a CAN BUS with the protocol J1939
         *
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationCANBusJ1939 : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationCANBusJ1939 )

         public:
                /** Constructor.
                */
                CObservationCANBusJ1939(  ) :
                        m_pgn(0), m_src_address(0), m_priority(0), m_pdu_format(0), m_pdu_spec(0), m_data_length(0)
                { }

                /** Destructor
                */
                virtual ~CObservationCANBusJ1939()
                { }

                /** The Parameter Group Number within this frame */
                uint16_t m_pgn;

                /** The address of the source node within this frame */
                uint8_t m_src_address;

                /** The priority */
                uint8_t m_priority;

                /** PDU Format */
                uint8_t m_pdu_format;

                /** PDU Specific */
                uint8_t m_pdu_spec;

                /** Data length  */
                uint8_t m_data_length;

                /** The data within this frame (0-8 bytes) */
                std::vector<uint8_t> m_data;

                /** The ASCII frame */
                std::vector<char> m_raw_frame;

                /** Not used */
                void getSensorPose( CPose3D &) const { }
                void setSensorPose( const CPose3D & ) { }

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationCANBusJ1939 , CObservation, OBS_IMPEXP)

        } // End of namespace
} // End of namespace

#endif