00001 /* 00002 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 00018 #ifndef CANITF_INCLUDEDEF_H 00019 #define CANITF_INCLUDEDEF_H 00020 //----------------------------------------------- 00021 #include <cob_generic_can/CanMsg.h> 00022 //----------------------------------------------- 00023 00024 // for types and baudrates see: https://github.com/ipa320/cob_robots/blob/hydro_dev/cob_hardware_config/raw3-5/config/base/CanCtrl.ini 00025 #define CANITFTYPE_CAN_PEAK 0 00026 #define CANITFTYPE_CAN_PEAK_USB 1 00027 #define CANITFTYPE_CAN_ESD 2 00028 #define CANITFTYPE_CAN_DUMMY 3 00029 #define CANITFTYPE_CAN_BECKHOFF 4 00030 #define CANITFTYPE_SOCKET_CAN 5 00031 00032 #define CANITFBAUD_1M 0x0 00033 #define CANITFBAUD_500K 0x2 00034 #define CANITFBAUD_250K 0x4 00035 #define CANITFBAUD_125K 0x6 00036 #define CANITFBAUD_50K 0x9 00037 #define CANITFBAUD_20K 0xB 00038 #define CANITFBAUD_10K 0xD 00039 00044 class CanItf 00045 { 00046 public: 00047 enum CanItfType { 00048 CAN_PEAK = 0, 00049 CAN_PEAK_USB = 1, 00050 CAN_ESD = 2, 00051 CAN_DUMMY = 3, 00052 CAN_BECKHOFF = 4, 00053 CAN_SOCKETCAN = 5 00054 }; 00055 00060 virtual ~CanItf() { 00061 } 00062 00066 virtual bool init_ret() = 0; 00067 00071 virtual void init() = 0; 00072 00078 virtual bool transmitMsg(CanMsg CMsg, bool bBlocking = true) = 0; 00079 00084 virtual bool receiveMsg(CanMsg* pCMsg) = 0; 00085 00093 virtual bool receiveMsgRetry(CanMsg* pCMsg, int iNrOfRetry) = 0; 00094 00101 virtual bool receiveMsgTimeout(CanMsg* pCMsg, int nMicroSecTimeout) = 0; 00102 00107 virtual bool isObjectMode() = 0; 00108 00114 void setCanItfType(CanItfType iType) { m_iCanItfType = iType; } 00115 00121 CanItfType getCanItfType() { return m_iCanItfType; } 00122 00123 private: 00125 CanItfType m_iCanItfType; 00126 }; 00127 //----------------------------------------------- 00128 00129 #endif