CObservationCANBusJ1939.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/CObservation.h>
#include <mrpt/serialization/CSerializable.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, mrpt::obs)

   public:
    /** Constructor.
     */
    CObservationCANBusJ1939() = default;

    /** Destructor
     */
    ~CObservationCANBusJ1939() override = default;
    /** The Parameter Group Number within this frame */
    uint16_t m_pgn{0};

    /** The address of the source node within this frame */
    uint8_t m_src_address{0};

    /** The priority */
    uint8_t m_priority{0};

    /** PDU Format */
    uint8_t m_pdu_format{0};

    /** PDU Specific */
    uint8_t m_pdu_spec{0};

    /** Data length  */
    uint8_t m_data_length{0};

    /** 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.

}  // namespace mrpt::obs