text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          http://www.mrpt.org/                          |
     |                                                                        |
     | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
     | See: http://www.mrpt.org/Authors - All rights reserved.                |
     | Released under BSD License. See details in http://www.mrpt.org/License |
     +------------------------------------------------------------------------+ */
  #pragma once
  
  #include <mrpt/serialization/CSerializable.h>
  #include <mrpt/obs/CObservation.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)
  
     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
  