.. _program_listing_file_src_tap_communication_can_can.hpp:

Program Listing for File can.hpp
================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_communication_can_can.hpp>` (``src/tap/communication/can/can.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifndef TAPROOT_CAN_HPP_
   #define TAPROOT_CAN_HPP_
   
   #include "tap/util_macros.hpp"
   
   #include "can_bus.hpp"
   
   namespace modm::can
   {
   class Message;
   }
   
   namespace tap
   {
   namespace can
   {
   class Can
   {
   public:
       Can() = default;
       DISALLOW_COPY_AND_ASSIGN(Can)
       mockable ~Can() = default;
   
       mockable void initialize();
   
       mockable bool isMessageAvailable(CanBus bus) const;
   
       mockable bool getMessage(CanBus bus, modm::can::Message *message);
   
       mockable bool isReadyToSend(CanBus bus) const;
   
       mockable bool sendMessage(CanBus bus, const modm::can::Message &message);
   };  // class Can
   
   }  // namespace can
   }  // namespace tap
   
   #endif  // TAPROOT_CAN_HPP_