can_layer.h

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#ifndef VITROIO_SDK_CAN_LAYER
#define VITROIO_SDK_CAN_LAYER
 
#include <mbed.h>
#include "transport_layer.h"
 
#include <vitroio-sdk/communication/canbus.h>
 
namespace vitroio {
 
namespace sdk {
    class Can_layer: public Transport_layer {
            Canbus *bus_;
            uint32_t timestamp_;
 
            void frameReceivedCallback(const CanbusFrame& frame);
 
        public:
 
            Can_layer(Canbus *bus, uint32_t nodeId);
 
            int send(uint32_t parameterId, const IoVec* iov, int iovcnt);
 
            int sendRaw(uint32_t parameterId, uint8_t* data, uint8_t nBytes);
 
            uint32_t getTimestamp();
 
            int computeCRC(const IoVec *iov, int iovcnt, uint32_t *crc_value);
    };
}
 
}
 
#endif // VITROIO_SDK_CAN_LAYER