Kinova.API.CommLayerUbuntu.h

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/*
 * Kinova.DLL.CommLayerUbuntu.h
 *
 *  Created on: Oct 16, 2012
 *      Author: H. Lamontagne, Kinova
 */

#ifndef KINOVA_DLL_COMMLAYERUBUNTU_H_
#define KINOVA_DLL_COMMLAYERUBUNTU_H_

#endif /* KINOVA_DLL_COMMLAYERUBUNTU_H_ */

#ifdef KINOVADLLCOMMLAYER_EXPORTS
#define KINOVADLLCOMMLAYER_API __declspec(dllexport)
#else
#define KINOVADLLCOMMLAYER_API __declspec(dllimport)
#endif
namespace jaco_arm {
//ERROR CODE
#define NO_ERROR 1
#define ERROR_LOAD_USB_LIBRARY 1001
#define ERROR_INIT_COMM_METHOD  1002
#define ERROR_GET_DEVICE_COUNT_METHOD  1003
#define ERROR_SEND_PACKET_METHOD  1006
#define ERROR_GET_DLL_VERSION_METHOD  1007
#define ERROR_OPEN_METHOD  1008
#define ERROR_WRITE_METHOD  1009
#define ERROR_READ_METHOD  1010
#define ERROR_READ_INT_METHOD  1011
#define ERROR_CLOSE_METHOD  1012
#define ERROR_FREE_LIBRARY  1013
#define ERROR_JACO_CONNECTION 1014
#define ERROR_CLAIM_INTERFACE 1015

#define PACKET_SIZE 64
#define PACKET_DATA_SIZE 56
#define PACKET_HEADER_SIZE 8

#define COMM_LAYER_VERSION 10000

struct Packet
{
        short IdPacket;
        short TotalPacketCount;
        short IdCommand;
        short TotalDataSize;
        unsigned char Data[PACKET_DATA_SIZE];
};

extern "C" __attribute__ ((visibility ("default"))) int InitCommunication(void);

extern "C" __attribute__ ((visibility ("default"))) int CloseCommunication(void);

extern "C" __attribute__ ((visibility ("default"))) int GetDeviceCount(int &result);

extern "C" __attribute__ ((visibility ("default"))) Packet SendPacket(Packet &packetOut, Packet &packetIn, int &result);
}