CanPeakSysUSB.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_drivers 00012 * ROS package name: cob_generic_can 00013 * Description: 00014 * 00015 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00016 * 00017 * Author: Christian Connette, email:christian.connette@ipa.fhg.de 00018 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de 00019 * 00020 * Date of creation: Feb 2009 00021 * ToDo: Remove dependency to inifiles_old -> Inifile.h 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 CANPEAKSYSUSB_INCLUDEDEF_H 00055 #define CANPEAKSYSUSB_INCLUDEDEF_H 00056 //----------------------------------------------- 00057 #include <cob_generic_can/CanItf.h> 00058 #include <libpcan/libpcan.h> 00059 #include <cob_utilities/IniFile.h> 00060 //----------------------------------------------- 00061 00062 class CANPeakSysUSB : public CanItf 00063 { 00064 public: 00065 // --------------- Interface 00066 CANPeakSysUSB(const char* cIniFile); 00067 ~CANPeakSysUSB(); 00068 void init(); 00069 void destroy() {}; 00070 bool transmitMsg(CanMsg CMsg, bool bBlocking = true); 00071 bool receiveMsg(CanMsg* pCMsg); 00072 bool receiveMsgRetry(CanMsg* pCMsg, int iNrOfRetry); 00073 bool isObjectMode() { return false; } 00074 00075 private: 00076 // --------------- Types 00077 HANDLE m_handle; 00078 00079 bool m_bInitialized; 00080 IniFile m_IniFile; 00081 bool m_bSimuEnabled; 00082 int m_iBaudrateVal; 00083 00084 static const int c_iInterrupt; 00085 static const int c_iPort; 00086 00087 bool initCAN(); 00088 00089 void outputDetailedStatus(); 00090 }; 00091 //----------------------------------------------- 00092 #endif 00093