cplBase.h

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/*
 *   Katana Native Interface - A C++ interface to the robot arm Katana.
 *   Copyright (C) 2005 Neuronics AG
 *   Check out the AUTHORS file for detailed contact information.
 *
 *   This program is free software; you can redistribute it and/or modify
 *   it under the terms of the GNU General Public License as published by
 *   the Free Software Foundation; either version 2 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 General Public License for more details.
 *
 *   You should have received a copy of the GNU General Public License
 *   along with this program; if not, write to the Free Software
 *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */


/****************************************************************************/
#ifndef _CPLBASE_H_
#define _CPLBASE_H_
/****************************************************************************/
#include "common/dllexport.h"
#include "KNI/cdlBase.h"

/****************************************************************************/

#if !defined (BYTE_DECLARED)
#define BYTE_DECLARED
typedef unsigned char byte;     
#endif

//--------------------------------------------------------------------------//


class DLLDIR CCplBase {

protected:
        CCdlBase*       device; 
        short mMasterVersion;   
        short mMasterRevision;  

public:

        virtual bool init(CCdlBase* _device, byte _kataddr = 24) = 0;

        virtual void comm(const byte* pack, byte* buf, byte* size) = 0;

        virtual ~CCplBase() {};

        virtual void getMasterFirmware(short* fw, short* rev) = 0;
};

/****************************************************************************/
#endif //_CPLBASE_H_
/****************************************************************************/