Implement the Serial-Zero protocol. More...
#include <cplSerial.h>
Public Member Functions | |
| virtual void | comm (const byte *pack, byte *buf, byte *size) |
| Communication function. | |
| virtual void | getMasterFirmware (short *fw, short *rev) |
| Get the master firmware of the robot we are communicating with. | |
| virtual bool | init (CCdlBase *_device, byte _kataddr=24) |
| Initializing function. | |
Protected Member Functions | |
| virtual void | defineProtocol (byte _kataddr) |
| Defines the protocol's attributes. | |
| virtual bool | load_tbl () |
| Loads the command table from the robot's firmware. | |
| virtual void | recv (byte *read_buf, byte read_sz, byte *size) |
| virtual void | send (byte *send_buf, byte write_sz, short retries=3) |
Implement the Serial-Zero protocol.
Initializing function
Init the protocols basic attributes.
Communication function
Sends a communications packet and receives one from the robot.
Implement the Serial-CRC protocol
Definition at line 137 of file cplSerial.h.
| void CCplSerialCRC::comm | ( | const byte * | pack, |
| byte * | buf, | ||
| byte * | size | ||
| ) | [virtual] |
Communication function.
Sends a communications packet and receives one from the robot.
Implements CCplBase.
Definition at line 92 of file cplSerial.cpp.
| void CCplSerialCRC::defineProtocol | ( | byte | _kataddr | ) | [protected, virtual] |
Defines the protocol's attributes.
Implements CCplSerial.
Definition at line 79 of file cplSerial.cpp.
| void CCplSerialCRC::getMasterFirmware | ( | short * | fw, |
| short * | rev | ||
| ) | [virtual] |
Get the master firmware of the robot we are communicating with.
Get master firmware read at initialization time.
Implements CCplBase.
Definition at line 168 of file cplSerial.cpp.
| bool CCplSerialCRC::init | ( | CCdlBase * | _device, |
| byte | _kataddr = 24 |
||
| ) | [virtual] |
Initializing function.
Init the protocols basic attributes.
Implements CCplBase.
Definition at line 85 of file cplSerial.cpp.
| bool CCplSerialCRC::load_tbl | ( | ) | [protected, virtual] |
Loads the command table from the robot's firmware.
Implements CCplSerial.
Definition at line 33 of file cplSerial.cpp.
| void CCplSerialCRC::recv | ( | byte * | read_buf, |
| byte | read_sz, | ||
| byte * | size | ||
| ) | [protected, virtual] |
Definition at line 192 of file cplSerial.cpp.
| void CCplSerialCRC::send | ( | byte * | send_buf, |
| byte | write_sz, | ||
| short | retries = 3 |
||
| ) | [protected, virtual] |
Definition at line 173 of file cplSerial.cpp.
