InetCan.h

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#ifndef CARMA_CANBUS_INETCAN_H
#define CARMA_CANBUS_INETCAN_H

#include "carma/canbus/CanIo.h"

namespace carma {
namespace canbus {

class InetCan : public carma::canbus::CanIo {
public:

    InetCan(
        const std::string hostname, 
        unsigned int ac = 0xffffffff,
        unsigned int am = 0xffffffff,
        unsigned short busac = 0xffff);

    ~InetCan();

    void postMessage(
        const carma::canbus::Message& msg,
        carma::canbus::txPriorityType prio = carma::canbus::NORMAL);

    carma::canbus::Message getMessage();

    void addFilter(unsigned int ac, unsigned int am, unsigned short busac);

    void clearFilters();

protected:

    // There are no protected methods.

private:

    // Message received received from server (contains CAN message).
    struct MsgFromServer {
        unsigned int id;
        unsigned short busId;
        unsigned char size;
        unsigned char data[8];
    }; // 15 Bytes

    // Message for posting to CANbus or setting filter.
    struct MsgToServer {
        unsigned char mode;
        union {
            unsigned int id;
            unsigned int ac;
        };
        union {
            unsigned short busId;
            unsigned short busFilter;
        };
        unsigned char size;
        union {
            unsigned char data[8];   // Data
            unsigned int am;         // Acceptance mask 
        };
    }; // 16 bytes

    // MsgToServer mode
    enum mode {
        SET_READ_FILTER    = 0x00,
        CLEAR_READ_FILTERS = 0x01,
        WRITE_CAN_MSG      = 0x02
    };

    // Private data.
    static const unsigned int READ_PORT = 15000;
    static const unsigned int WRITE_PORT = 15001;

    int writeSock_; // Write socket file descriptor.
    int readSock_;  // Read socket file descriptor.    
    const std::string hostname_; // Who are we connected to?

    // Private methods.
    void sendToServer(const MsgToServer &msg); // Posts to write socket.
     
}; // End class InetCan
}} // End namespace carma::canbus
#endif