Program Listing for File can.hpp

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/*
 * 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_