SDOSegmented.h

Go to the documentation of this file.

/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_canopen_motor
 * Description: This class is used to collect data that is uploaded to the master in an segmented SDO transfer. Additionally, it includes some administrative functions for this proccess.
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Philipp Köhler
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: Mar 2010
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

#ifndef _SDOSegmented_H
#define _SDOSegmented_H

#include <vector>

class segData {

        public:    

                enum SDOStatusFlag {
                        SDO_SEG_FREE = 0, 
                        SDO_SEG_WAITING = 3, 
                        SDO_SEG_COLLECTING = 2, 
                        SDO_SEG_PROCESSING = 1, 
                };

                segData() {
                        objectID = 0x0000;
                        objectSubID = 0x00;
                        toggleBit = false;
                        statusFlag = SDO_SEG_FREE;
                }

                ~segData() {}

                void resetTransferData() {
                        data.clear();
                        objectID = 0x0000;
                        objectSubID = 0x00;
                        toggleBit = false;
                        statusFlag = SDO_SEG_FREE;
                }

                //public attributes
                //all attributes are public, as this class is used only as ~data array

                int statusFlag;
        
                int objectID;
                
                int objectSubID;

                bool toggleBit;

                unsigned int numTotalBytes;

                std::vector<unsigned char> data;
};

#endif