sub20_interface.hpp
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00036 
00037 //\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC
00038 
00039 #ifndef SUB20_INTERFACE_H_
00040 #define SUB20_INTERFACE_H_
00041 
00042 // ROS headers for debugging output
00043 #include <ros/console.h>
00044 
00045 #include <libsub.h>
00046 #include <bosch_drivers_common.hpp>
00047 #include <bosch_drivers_hardware_interface.hpp>
00048 
00049 
00050 using namespace bosch_drivers_common;
00051 
00074 class Sub20Interface: public bosch_hardware_interface
00075 {
00076 
00077 public:
00096   Sub20Interface( std::string sub20_serial_number =  "null" ); 
00097 
00101   ~Sub20Interface(); // destructor
00102   
00103 
00109   bool initialize();
00110 
00128   ssize_t read( int device_address, interface_protocol protocol, int frequency, int* flags, uint8_t reg_address, uint8_t* data, size_t num_bytes );
00129 
00130 
00148   ssize_t write( int device_address, interface_protocol protocol, int frequency, int* flags, uint8_t reg_address, uint8_t* data, size_t num_bytes );
00149 
00150 
00159   bool supportedProtocol( interface_protocol protocol );
00160   
00164   std::string getID();
00165 
00170   int numDevices();
00171 
00172 private:
00173   bool spiConfigRoutine( int frequency, int flags );
00174   
00175   interface_protocol protocol_;
00176   int error_code;
00177   sub_handle handle_; 
00178   sub_device subdev_;
00179   std::string serialNumber_;
00180   int num_devices_;
00181   int spi_configuration_;
00182   bool is_initialized_;
00183 };
00184 
00185 #endif //SUB20_INTERFACE_H_


sub20_interface
Author(s): Joshua Vasquez and Philip Roan. Maintained by Philip Roan
autogenerated on Mon Oct 6 2014 10:09:57