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KNI_4.3.0
include
KNI
kmlSctBase.h
Go to the documentation of this file.
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//
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// C++ Interface: SctBase
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//
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// Description:
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//
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//
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// Author: Tiziano Müller <tiziano.mueller@neuronics.ch>, (C) 2006
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//
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// Copyright: See COPYING file that comes with this distribution
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//
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//
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#ifndef KMLSCTBASE_H
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#define KMLSCTBASE_H
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#include "
common/dllexport.h
"
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#include "
KNI/kmlCommon.h
"
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#include "
KNI/cplBase.h
"
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class
CKatBase
;
//forward declaration
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class
CSctBase
;
//forward declaration
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/****************************************************************************/
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// CSctBase ----------------------------------------------------------------//
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/****************************************************************************/
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struct
TSctDesc
{
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byte
ctrlID
;
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short
sens_res
;
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short
sens_count
;
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};
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struct
TKatSCT
{
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short
cnt
;
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CSctBase
*
arr
;
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TSctDesc
*
desc
;
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};
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struct
TSctGNL
{
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CKatBase
*
own
;
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byte
SID
;
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short
res
;
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};
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struct
TSctDAT
{
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short
cnt
;
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short
*
arr
;
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};
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//--------------------------------------------------------------------------//
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class
DLLDIR
CSctBase
{
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friend
class
CKatBase
;
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protected
:
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TSctGNL
gnl
;
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TSctDAT
dat
;
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public
:
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const
TSctGNL
*
GetGNL
() {
return
&
gnl
; }
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const
TSctDAT
*
GetDAT
() {
return
&dat; }
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protected
:
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CCplBase
*
protocol
;
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public
:
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virtual
~CSctBase
() {}
//destructor
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bool
init
(
CKatBase
* _own,
const
TSctDesc
_sctDesc,
CCplBase
* protocol);
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void
recvDAT();
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};
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#endif
kmlCommon.h
TSctDAT
[DAT] sensor data
Definition:
kmlSctBase.h:57
byte
unsigned char byte
type specification (8 bit)
Definition:
cdlBase.h:29
CKatBase::init
virtual bool init(const TKatGNL _gnl, const TKatMOT _mot, const TKatSCT _sct, const TKatEFF _eff, CCplBase *_protocol)
Definition:
kmlBase.cpp:27
CSctBase::gnl
TSctGNL gnl
controller generals
Definition:
kmlSctBase.h:77
TSctDesc::sens_count
short sens_count
count of sensors
Definition:
kmlSctBase.h:36
CCplBase
Abstract base class for protocol definiton.
Definition:
cplBase.h:47
TKatSCT
[SCT] every sens ctrl's attributes
Definition:
kmlSctBase.h:41
DLLDIR
#define DLLDIR
Definition:
dllexport.h:30
CSctBase::dat
TSctDAT dat
sensor data
Definition:
kmlSctBase.h:78
CSctBase
Sensor Controller class.
Definition:
kmlSctBase.h:72
TSctDesc::ctrlID
byte ctrlID
controller number (ID)
Definition:
kmlSctBase.h:34
CKatBase
Base Katana class.
Definition:
kmlBase.h:132
CSctBase::protocol
CCplBase * protocol
protocol interface
Definition:
kmlSctBase.h:85
TKatSCT::desc
TSctDesc * desc
description[]
Definition:
kmlSctBase.h:44
dllexport.h
TSctDAT::cnt
short cnt
count of sensors
Definition:
kmlSctBase.h:58
TSctDAT::arr
short * arr
sensor data
Definition:
kmlSctBase.h:59
TSctGNL::res
short res
resolution: 8/12 bit
Definition:
kmlSctBase.h:52
TSctGNL
[GNL] controller generals
Definition:
kmlSctBase.h:49
CSctBase::GetDAT
const TSctDAT * GetDAT()
Definition:
kmlSctBase.h:82
TSctGNL::SID
byte SID
slave ID
Definition:
kmlSctBase.h:51
TSctDesc
sensor controller description (partly)
Definition:
kmlSctBase.h:33
TKatSCT::arr
CSctBase * arr
array of sens ctrl's
Definition:
kmlSctBase.h:43
TSctGNL::own
CKatBase * own
parent robot
Definition:
kmlSctBase.h:50
CKatBase::gnl
TKatGNL gnl
katana general
Definition:
kmlBase.h:135
TSctDesc::sens_res
short sens_res
resolution: 8/12 bit
Definition:
kmlSctBase.h:35
CSctBase::~CSctBase
virtual ~CSctBase()
Definition:
kmlSctBase.h:88
cplBase.h
CSctBase::GetGNL
const TSctGNL * GetGNL()
Definition:
kmlSctBase.h:81
TKatSCT::cnt
short cnt
count of sens ctrl's
Definition:
kmlSctBase.h:42
kni
Author(s): Martin Günther
autogenerated on Fri Jun 7 2019 22:06:44