modularization/src/apollo/code/apollodriver_nvcan/basecan.h

#ifndef BASECAN_H
#define BASECAN_H


class basecan_msg
{
  public:
    unsigned int id;
    bool isExtern;
    bool isRemote;
    unsigned char nLen;
    unsigned char data[64];
    double frecvtime;
#ifdef SEND_STAT
    int64_t mSetTime;  //Used for calucate send latency
#endif
};

class basecan
{
public:
    basecan();
    ~basecan();
    virtual int GetMessage(const int nch,basecan_msg * pMsg,const int nCap);
    virtual int SetMessage(const int nch,basecan_msg * pMsg); //Send Message

    virtual void startdev();
    virtual void stopdev();


//signals:
//    void SIG_CANOPENSTATE(bool bCAN,int nR,const char * strres);
//    void SIGTEST();

public:
    virtual void CmdSend();
};

#endif // BASECAN_H