cob_forcetorque: CanESD.h Source File

00001 /* -----------------------------------------------------------------------------------
00002  *
00003  *              Copyright (c) 2005 Neobotix (www.neobotix.de)
00004  *
00005  *      This software is allowed to be used and modified only in association with a Neobotix
00006  *      robot platform. It is allowed to include the software into applications and
00007  *      to distribute it with a Neobotix robot platform. 
00008  *      It is not allowed to distribute the software without a Neobotix robot platform. 
00009  *
00010  *      This software is provided WITHOUT ANY WARRANTY; without even the
00011  *              implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00012  *              PURPOSE. See the Neobotix License (Version 1.0) for more details.
00013  *
00014  *      You should have received a copy of the Neobotix License
00015  *      along with this software; if not, write to the 
00016  *      Gesellschaft fuer Produktionssysteme, Neobotix, Nobelstrasse 12, 70569 Stuttgart, Germany
00017  *
00018  * -----------------------------------------------------------------------------------
00019  */
00020 
00021 
00022 #ifndef CANESD_INCLUDEDEF_H
00023 #define CANESD_INCLUDEDEF_H
00024 //-----------------------------------------------
00025 //#include <windows.h>
00026 #include <iostream>
00027 #include <cstdio>
00028 #include <errno.h>
00029 #include <cob_forcetorque/CanItf.h>
00030 #include <libntcan/ntcan.h>
00031 //#include <Neobotix/Utilities/IniFile.h>
00032 #include <cob_forcetorque/Mutex.h>
00033 
00034 //-----------------------------------------------
00039 class CanESD : public CanItf
00040 {
00041 private:
00042         BYTE m_DeviceNr;
00043         BYTE m_BaudRate;
00044         int m_Handle;
00045         int m_LastID;
00046         bool m_bObjectMode;
00047         bool m_bIsTXError;
00048         Mutex m_Mutex;
00049 
00050         //IniFile m_IniFile;
00051 
00052         void initIntern();
00053 
00054 public:
00055         CanESD(const char* cIniFile, bool bObjectMode = false);
00056         ~CanESD();
00057         void init(){};
00058         bool transmitMsg(CanMsg CMsg, bool bBlocking = true);
00059         bool receiveMsgRetry(CanMsg* pCMsg, int iNrOfRetry);
00060         bool receiveMsg(CanMsg* pCMsg);
00061         bool isObjectMode() { return m_bObjectMode; }
00062         bool isTransmitError() { return m_bIsTXError; }
00063 protected:
00064 
00074         int invert(int id)
00075         {
00076         //return (~id) & 0x7FF;
00077                 return (~id) & 0x7F8;
00078         }
00079         
00080         int canIdAddGroup(int handle, int id);
00081 
00082         std::string GetErrorStr(int ntstatus) const;
00083         int readEvent();
00084 };
00085 //-----------------------------------------------
00086 #endif