cdlCOM.h

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/*
 *   Katana Native Interface - A C++ interface to the robot arm Katana.
 *   Copyright (C) 2005 Neuronics AG
 *   Check out the AUTHORS file for detailed contact information.
 *
 *   This program is free software; you can redistribute it and/or modify
 *   it under the terms of the GNU General Public License as published by
 *   the Free Software Foundation; either version 2 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 General Public License for more details.
 *
 *   You should have received a copy of the GNU General Public License
 *   along with this program; if not, write to the Free Software
 *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */



#ifndef _CDLCOM_H_
#define _CDLCOM_H_

#include "common/dllexport.h"

#include "KNI/cdlBase.h"
#include "KNI/cdlCOMExceptions.h"

//<tfromm date="22.05.2009">
//#include <string>
#include <cstring>
//</tfromm>

//-------------------------------------------------------//
#ifdef WIN32
//-------------------------------------------------------//
        #include <windows.h>
//-------------------------------------------------------//
#else //LINUX
//-------------------------------------------------------//
        #include <termios.h>
        #include <fcntl.h>
        #include <cerrno>
//-------------------------------------------------------//
#endif //WIN32 else LINUX
//-------------------------------------------------------//


struct TCdlCOMDesc {
        int     port;   
        int     baud;   
        int     data;   
        int     parity; 
        int     stop;   
        int     rttc;   
        int     wttc;   
};

//--------------------------------------------------------------------------//


class DLLDIR CCdlCOM : public CCdlBase {
private:
        std::string _deviceName;

protected:

        TCdlCOMDesc _ccd;       

//-------------------------------------------------------//
#ifdef WIN32
//-------------------------------------------------------//
        HANDLE _prtHdl; 
        COMMTIMEOUTS _oto;      
//-------------------------------------------------------//
#else //LINUX
//-------------------------------------------------------//
        int _prtHdl;    
        struct termios _oto;    
//-------------------------------------------------------//
#endif //WIN32 else LINUX
//-------------------------------------------------------//

protected:

        static char digit(const int _val) {
                return (char)((int)'0' + _val);
        }

public:
        CCdlCOM(TCdlCOMDesc ccd);
        virtual ~CCdlCOM();
        virtual int  send(const void* buf, int size);
        virtual int  recv(void* buf, int size);
};


#endif //_CDLCOM_H_