SDOSegmented.h
Go to the documentation of this file.00001 /**************************************************************** 00002 * 00003 * Copyright (c) 2010 00004 * 00005 * Fraunhofer Institute for Manufacturing Engineering 00006 * and Automation (IPA) 00007 * 00008 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00009 * 00010 * Project name: care-o-bot 00011 * ROS stack name: cob_driver 00012 * ROS package name: cob_canopen_motor 00013 * Description: This class is used to collect data that is uploaded to the master in an segmented SDO transfer. Additionally, it includes some administrative functions for this proccess. 00014 * 00015 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00016 * 00017 * Author: Philipp Köhler 00018 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de 00019 * 00020 * Date of creation: Mar 2010 00021 * ToDo: 00022 * 00023 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00024 * 00025 * Redistribution and use in source and binary forms, with or without 00026 * modification, are permitted provided that the following conditions are met: 00027 * 00028 * * Redistributions of source code must retain the above copyright 00029 * notice, this list of conditions and the following disclaimer. 00030 * * Redistributions in binary form must reproduce the above copyright 00031 * notice, this list of conditions and the following disclaimer in the 00032 * documentation and/or other materials provided with the distribution. 00033 * * Neither the name of the Fraunhofer Institute for Manufacturing 00034 * Engineering and Automation (IPA) nor the names of its 00035 * contributors may be used to endorse or promote products derived from 00036 * this software without specific prior written permission. 00037 * 00038 * This program is free software: you can redistribute it and/or modify 00039 * it under the terms of the GNU Lesser General Public License LGPL as 00040 * published by the Free Software Foundation, either version 3 of the 00041 * License, or (at your option) any later version. 00042 * 00043 * This program is distributed in the hope that it will be useful, 00044 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00045 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00046 * GNU Lesser General Public License LGPL for more details. 00047 * 00048 * You should have received a copy of the GNU Lesser General Public 00049 * License LGPL along with this program. 00050 * If not, see <http://www.gnu.org/licenses/>. 00051 * 00052 ****************************************************************/ 00053 00054 #ifndef _SDOSegmented_H 00055 #define _SDOSegmented_H 00056 00057 #include <vector> 00058 00063 class segData { 00064 00065 public: 00066 00070 enum SDOStatusFlag { 00071 SDO_SEG_FREE = 0, 00072 SDO_SEG_WAITING = 3, 00073 SDO_SEG_COLLECTING = 2, 00074 SDO_SEG_PROCESSING = 1, 00075 }; 00076 00077 segData() { 00078 objectID = 0x0000; 00079 objectSubID = 0x00; 00080 toggleBit = false; 00081 statusFlag = SDO_SEG_FREE; 00082 } 00083 00084 ~segData() {} 00085 00089 void resetTransferData() { 00090 data.clear(); 00091 objectID = 0x0000; 00092 objectSubID = 0x00; 00093 toggleBit = false; 00094 statusFlag = SDO_SEG_FREE; 00095 } 00096 00097 //public attributes 00098 //all attributes are public, as this class is used only as ~data array 00099 00107 int statusFlag; 00108 00112 int objectID; 00113 00117 int objectSubID; 00118 00122 bool toggleBit; 00123 00127 unsigned int numTotalBytes; 00128 00132 std::vector<unsigned char> data; 00133 }; 00134 00135 #endif