uxbus_cmd_tcp.h

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/* Copyright 2017 UFACTORY Inc. All Rights Reserved.
 *
 * Software License Agreement (BSD License)
 *
 * Author: Jimy Zhang <jimy92@163.com>
 ============================================================================*/
#ifndef CORE_INSTRUCTION_UXBUS_CMD_TCP_H_
#define CORE_INSTRUCTION_UXBUS_CMD_TCP_H_

#include "xarm/core/instruction/uxbus_cmd.h"
#include "xarm/core/port/socket.h"

class UxbusCmdTcp : public UxbusCmd {
public:
        UxbusCmdTcp(SocketPort *arm_port);
        ~UxbusCmdTcp(void);

        int check_xbus_prot(unsigned char *datas, int funcode);
        int send_pend(int funcode, int num, int timeout, unsigned char *ret_data);
        int send_xbus(int funcode, unsigned char *datas, int num);
        void close(void);
        int is_ok(void);

private:
        SocketPort *arm_port_;
        int bus_flag_;
        int prot_flag_;
        int TX2_PROT_CON_ = 2;         // tcp cmd prot
        int TX2_PROT_HEAT_ = 1;        // tcp heat prot
        int TX2_BUS_FLAG_MIN_ = 1;     // the min cmd num
        int TX2_BUS_FLAG_MAX_ = 5000;  // the max cmd num
};

#endif