CObservationCANBusJ1939.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/serialization/CSerializable.h>
#include <mrpt/obs/CObservation.h>

namespace mrpt::obs
{
/** This class stores a message from a CAN BUS with the protocol J1939
 *
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationCANBusJ1939 : public CObservation
{
    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(mrpt::poses::CPose3D&) const override {}
    void setSensorPose(const mrpt::poses::CPose3D&) override {}
    // See base class docs
    void getDescriptionAsText(std::ostream& o) const override;

};  // End of class def.

}
#endif