Public Member Functions | Protected Attributes
CCplBase Class Reference

Abstract base class for protocol definiton. More...

#include <cplBase.h>

Inheritance diagram for CCplBase:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void comm (const byte *pack, byte *buf, byte *size)=0
 Base communication function.
virtual void getMasterFirmware (short *fw, short *rev)=0
 Get the master firmware of the robot we are communicating with.
virtual bool init (CCdlBase *_device, byte _kataddr=24)=0
 Basic initializing function.
virtual ~CCplBase ()
 destructor

Protected Attributes

CCdlBasedevice
 communication device
short mMasterRevision
 master firmware revision
short mMasterVersion
 master version of robot we are communicating with

Detailed Description

Abstract base class for protocol definiton.

The robot can be controled by using different kind of protocols; this class has been introduced as an abstract base class to manage them gether; every protocol the robot should use in futur shoud be derived from this class.

Definition at line 47 of file cplBase.h.


Constructor & Destructor Documentation

virtual CCplBase::~CCplBase ( ) [inline, virtual]

destructor

This class is only an interface

Definition at line 75 of file cplBase.h.


Member Function Documentation

virtual void CCplBase::comm ( const byte pack,
byte buf,
byte size 
) [pure virtual]

Base communication function.

The children of this class should write their main double way communication in this function.

Implemented in CCplSerialCRC.

virtual void CCplBase::getMasterFirmware ( short *  fw,
short *  rev 
) [pure virtual]

Get the master firmware of the robot we are communicating with.

Get master firmware read at initialization time.

Implemented in CCplSerialCRC.

virtual bool CCplBase::init ( CCdlBase _device,
byte  _kataddr = 24 
) [pure virtual]

Basic initializing function.

The children of this class should write their initializing part in that function.

Implemented in CCplSerialCRC.


Member Data Documentation

CCdlBase* CCplBase::device [protected]

communication device

Definition at line 50 of file cplBase.h.

short CCplBase::mMasterRevision [protected]

master firmware revision

Definition at line 52 of file cplBase.h.

short CCplBase::mMasterVersion [protected]

master version of robot we are communicating with

Definition at line 51 of file cplBase.h.


The documentation for this class was generated from the following file:
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kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue May 28 2013 14:52:55