cob_generic_can: cob_generic_can: CanPeakSys.h Source 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 
00055 #ifndef CANPEAKSYS_INCLUDEDEF_H
00056 #define CANPEAKSYS_INCLUDEDEF_H
00057 //-----------------------------------------------
00058 #include <cob_generic_can/CanItf.h>
00059 #include <libpcan/libpcan.h>
00060 #include <cob_utilities/IniFile.h>
00061 //-----------------------------------------------
00062 
00063 class CanPeakSys : public CanItf
00064 {
00065 public:
00066         // --------------- Interface
00067         CanPeakSys(const char* cIniFile);
00068         ~CanPeakSys();
00069         void init();
00070         void destroy() {}
00071         bool transmitMsg(CanMsg CMsg, bool bBlocking = true);
00072         bool receiveMsg(CanMsg* pCMsg);
00073         bool receiveMsgRetry(CanMsg* pCMsg, int iNrOfRetry);
00074         bool isObjectMode() { return false; }
00075 
00076 private:
00077         // --------------- Types
00078         HANDLE m_handle;
00079         
00080         bool m_bInitialized;
00081         IniFile m_IniFile;
00082         bool m_bSimuEnabled;
00083 
00084         static const int c_iInterrupt;
00085         static const int c_iPort;
00086 };
00087 //-----------------------------------------------
00088 #endif
00089