CanPeakSysUSB.h

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_drivers
 * ROS package name: cob_generic_can
 * Description:
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Christian Connette, email:christian.connette@ipa.fhg.de
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: Feb 2009
 * ToDo: Remove dependency to inifiles_old -> Inifile.h
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
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 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
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 ****************************************************************/

#ifndef CANPEAKSYSUSB_INCLUDEDEF_H
#define CANPEAKSYSUSB_INCLUDEDEF_H
//-----------------------------------------------
#include <cob_generic_can/CanItf.h>
#include <libpcan/libpcan.h>
#include <cob_utilities/IniFile.h>
//-----------------------------------------------

class CANPeakSysUSB : public CanItf
{
public:
        // --------------- Interface
        CANPeakSysUSB(const char* cIniFile);
        ~CANPeakSysUSB();
        void init();
        void destroy() {};
        bool transmitMsg(CanMsg CMsg, bool bBlocking = true);
        bool receiveMsg(CanMsg* pCMsg);
        bool receiveMsgRetry(CanMsg* pCMsg, int iNrOfRetry);
        bool isObjectMode() { return false; }

private:
        // --------------- Types
        HANDLE m_handle;
        
        bool m_bInitialized;
        IniFile m_IniFile;
        bool m_bSimuEnabled;
        int m_iBaudrateVal;

        static const int c_iInterrupt;
        static const int c_iPort;
        
        bool initCAN();
        
        void outputDetailedStatus();
};
//-----------------------------------------------
#endif