ESDDevice.h

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/*
 * Copyright (c) 2012 SCHUNK GmbH & Co. KG
 * Copyright (c) 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CESDDEVICE_H
#define CESDDEVICE_H

#include "../Device/ProtocolDevice.h"

class CESDDevice : public CProtocolDevice  
{
        private:

                // ---- private data ---------------------------------------------------- ;
        
                // ---- private auxiliary functions ------------------------------------- ;

        protected:

                // ---- protected data -------------------------------------------------- ;

#if defined (_WIN32)
                        HANDLE m_hDevice;
                        HANDLE m_hSyncDevice;
#endif
#if defined(__LINUX__)
//                      HANDLE m_hDevice;
//                      HANDLE m_hSyncDevice;
                        int m_hDevice;
                        int m_hSyncDevice;
#endif
#if defined (__QNX__)
                        int m_hDevice;
                        int m_hSyncDevice;
#endif
                        int m_iDeviceId;
                        unsigned long  m_uiBaudRate;    
                        unsigned short m_uiQueueSize;
                        unsigned long m_uiTimeOut;

                // ---- protected auxiliary functions ----------------------------------- ;

                        int getDeviceError(int iErrorState);
                        int setBaudRate();
                        int setMessageId(unsigned long uiMessageId);
                        int clearReadQueue();
                        int reinit(unsigned char ucBaudRateId);
                        int readDevice(CProtocolMessage& rclProtocolMessage);
                        int writeDevice(CProtocolMessage& rclProtocolMessage);

        public:

                // ---- public data ----------------------------------------------------- ;


        
                // ---- constructors / destructor --------------------------------------- ;

                        CESDDevice();
                        CESDDevice(const CESDDevice& rclESDDevice);
                        virtual ~CESDDevice();

                // ---- operators ------------------------------------------------------- ;
                
                        // assignment operator
                        CESDDevice& operator=(const CESDDevice& rclESDDevice);

                // ---- query functions ------------------------------------------------- ;

                // ---- modify functions ------------------------------------------------ ;
                        
                        void setQueueSize(unsigned short uiQueueSize);
                        void setTimeOut(unsigned long uiTimeOut);

                // ---- I/O functions --------------------------------------------------- ;

                // ---- exec functions -------------------------------------------------- ;

                        int init();
                        int init(const char* acInitString);
                        int exit();
                        int waitForStartMotionAll();
};

#endif