CanMaster.h

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#ifndef CANMASTER_H
#define CANMASTER_H

#include "carma/canbus/Master.h"

#define CAN_MODBUS_NO  0
#define CAN_MODSLOT_NO 0

namespace sza {
  namespace antenna {
    namespace canbus {
      
      class CanDevice;
      
      class CanMaster : public carma::canbus::Master {
      public:
        
        CanMaster();
        
        CanMaster(int modBusNo);
        
        CanMaster(int modBusNo, int modSlotNo);
        
        void addCanDevice(CanDevice* device);
        
        void removeCanDevice(CanDevice* device);
        
        void run();
        
        void issueHardwareReset();

        void runReadThread();

        static const carma::canbus::nodeType DONGLELESS_NODE;

      private:
        
        std::map<carma::canbus::msgType, std::string> getControls() const;
        
        void updateStatus();
        
      }; // End class CanMaster
      
    }; // End namespace canbus
  }; // End namespace antenna
}; // End namespace sza

#endif // End #ifndef