CanItf.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: cob3_common 00012 * ROS package name: 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: 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 00055 #ifndef CANITF_INCLUDEDEF_H 00056 #define CANITF_INCLUDEDEF_H 00057 //----------------------------------------------- 00058 #include <cob_generic_can/CanMsg.h> 00059 //----------------------------------------------- 00060 00065 class CanItf 00066 { 00067 public: 00068 enum CanItfType { 00069 CAN_PEAK = 0, 00070 CAN_PEAK_USN = 1, 00071 CAN_ESD = 2, 00072 CAN_DUMMY = 3, 00073 CAN_BECKHOFF = 4 00074 }; 00075 00080 virtual ~CanItf() { 00081 } 00082 00086 virtual void init() = 0; 00087 00093 virtual bool transmitMsg(CanMsg CMsg, bool bBlocking = true) = 0; 00094 00099 virtual bool receiveMsg(CanMsg* pCMsg) = 0; 00100 00108 virtual bool receiveMsgRetry(CanMsg* pCMsg, int iNrOfRetry) = 0; 00109 00114 virtual bool isObjectMode() = 0; 00115 00121 void setCanItfType(CanItfType iType) { m_iCanItfType = iType; } 00122 00128 CanItfType getCanItfType() { return m_iCanItfType; } 00129 00130 private: 00132 CanItfType m_iCanItfType; 00133 }; 00134 //----------------------------------------------- 00135 00136 #endif