00001 /* 00002 * Katana Native Interface - A C++ interface to the robot arm Katana. 00003 * Copyright (C) 2005 Neuronics AG 00004 * Check out the AUTHORS file for detailed contact information. 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 */ 00020 00021 00022 00023 #ifndef _CDLCOM_H_ 00024 #define _CDLCOM_H_ 00025 00026 #include "common/dllexport.h" 00027 00028 #include "KNI/cdlBase.h" 00029 #include "KNI/cdlCOMExceptions.h" 00030 00031 //<tfromm date="22.05.2009"> 00032 //#include <string> 00033 #include <cstring> 00034 //</tfromm> 00035 00036 //-------------------------------------------------------// 00037 #ifdef WIN32 00038 //-------------------------------------------------------// 00039 #include <windows.h> 00040 //-------------------------------------------------------// 00041 #else //LINUX 00042 //-------------------------------------------------------// 00043 #include <termios.h> 00044 #include <fcntl.h> 00045 #include <cerrno> 00046 //-------------------------------------------------------// 00047 #endif //WIN32 else LINUX 00048 //-------------------------------------------------------// 00049 00050 00055 struct TCdlCOMDesc { 00056 int port; 00057 int baud; 00058 int data; 00059 int parity; 00060 int stop; 00061 int rttc; 00062 int wttc; 00063 }; 00064 00065 //--------------------------------------------------------------------------// 00066 00067 00075 class DLLDIR CCdlCOM : public CCdlBase { 00076 private: 00077 std::string _deviceName; 00078 00079 protected: 00080 00081 TCdlCOMDesc _ccd; 00082 00083 //-------------------------------------------------------// 00084 #ifdef WIN32 00085 //-------------------------------------------------------// 00086 HANDLE _prtHdl; 00087 COMMTIMEOUTS _oto; 00088 //-------------------------------------------------------// 00089 #else //LINUX 00090 //-------------------------------------------------------// 00091 int _prtHdl; 00092 struct termios _oto; 00093 //-------------------------------------------------------// 00094 #endif //WIN32 else LINUX 00095 //-------------------------------------------------------// 00096 00097 protected: 00098 00101 static char digit(const int _val) { 00102 return (char)((int)'0' + _val); 00103 } 00104 00105 public: 00112 CCdlCOM(TCdlCOMDesc ccd); 00113 virtual ~CCdlCOM(); 00116 virtual int send(const void* buf, int size); 00119 virtual int recv(void* buf, int size); 00122 }; 00123 00124 00125 #endif //_CDLCOM_H_ 00126