cplSerial.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 _CPLSERIAL_H_
#define _CPLSERIAL_H_
/******************************************************************************************************************/
#include "common/dllexport.h"
#include "common/exception.h"
#include "KNI/cplBase.h"
#include "KNI/cdlCOMExceptions.h"

#define NUMBER_OF_RETRIES_SEND  3  // Number of retries after a failing in the Communication
#define NUMBER_OF_RETRIES_RECV  3  // Number of retries after a failing in the Communication
/******************************************************************************************************************/

const int KATANA_ERROR_FLAG = 192;

class WrongCRCException : public Exception {
public:
        WrongCRCException() throw ():
                Exception("CRC check failed", -20) {}
};

class FirmwareException : public Exception {
protected:
        int _axis_number; 
        char _command_char; 
public:
        FirmwareException(const std::string & error, const int error_number, const int axis, const char command) throw ():
                Exception("FirmwareException : '" + error + "'", error_number),
                _axis_number(axis),
                _command_char(command) {}
        int axis_number() const throw() {
            return _axis_number;
        }
        char command_char() const throw() {
            return _command_char;
        }
};


struct THeader {
        byte    size;           
        byte    data[256];      
};

struct TPacket {
        byte    send_sz;        
        byte    read_sz;        
};

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


class DLLDIR CCplSerial : public CCplBase {

protected:
        THeader hdr;                    
        TPacket cmd[256];               

        byte    send_buf[256];  
        byte    read_buf[256];  

protected:
        virtual bool load_tbl()                                         = 0;    
        virtual void defineProtocol(byte _kataddr)      = 0;    
};

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

// class DLLDIR CCplSerialZero : public CCplSerial {
// 
// protected:
//      virtual bool load_tbl();                                        //!< Loads the command table from the robot's firmware.
//      virtual void defineProtocol(byte _kataddr);     //!< Defines the protocol's attributes.
// 
// public:
//      /*!     \brief  Initializing function
//       *
//       *      Init the protocols basic attributes.
//       */
//      virtual bool init(CCdlBase* _device, byte _kataddr = 24);
// 
// 
//      /*!     \brief  Communication function
//       *
//       *      Sends a communications packet and receives one from the robot.
//       */
//      virtual TRetCOMM comm(const byte* _pack, byte* _buf, byte* _size);
// };

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

class DLLDIR CCplSerialCRC : public CCplSerial {

protected:
        virtual bool load_tbl();                                        
        virtual void defineProtocol(byte _kataddr);     
        virtual void send(byte* send_buf, byte write_sz, short retries = 3); // Sends a packet.
        virtual void recv(byte* read_buf, byte read_sz, byte* size); // Receives the packet and checks the CRC.

public:
        virtual bool init(CCdlBase* _device, byte _kataddr = 24);

        virtual void comm(const byte* pack, byte* buf, byte* size);

        virtual void getMasterFirmware(short* fw, short* rev);

};

/******************************************************************************************************************/
#endif //_CPLSERIALZERO_H_
/******************************************************************************************************************/