595fbe7745
- openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control
27 lines
465 B
C++
27 lines
465 B
C++
#ifndef CANBUS_H
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#define CANBUS_H
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#include <iostream>
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#include <cstring>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <net/if.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <array>
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#include <fcntl.h>
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class CANBus {
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public:
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explicit CANBus(const std::string& interface);
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~CANBus();
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bool send(uint16_t motor_id, const std::array<uint8_t, 8>& data);
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struct can_frame recv();
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private:
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int sock_;
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};
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#endif // CANBUS_H
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