CanItf.h
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00001 /****************************************************************
00002  *
00003  * Copyright (c) 2010
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering   
00006  * and Automation (IPA)
00007  *
00008  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009  *
00010  * Project name: care-o-bot
00011  * ROS stack name: cob3_common
00012  * ROS package name: generic_can
00013  * Description:
00014  *                                                              
00015  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00016  *                      
00017  * Author: Christian Connette, email:christian.connette@ipa.fhg.de
00018  * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
00019  *
00020  * Date of creation: Feb 2009
00021  * ToDo:
00022  *
00023  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00024  *
00025  * Redistribution and use in source and binary forms, with or without
00026  * modification, are permitted provided that the following conditions are met:
00027  *
00028  *     * Redistributions of source code must retain the above copyright
00029  *       notice, this list of conditions and the following disclaimer.
00030  *     * Redistributions in binary form must reproduce the above copyright
00031  *       notice, this list of conditions and the following disclaimer in the
00032  *       documentation and/or other materials provided with the distribution.
00033  *     * Neither the name of the Fraunhofer Institute for Manufacturing 
00034  *       Engineering and Automation (IPA) nor the names of its
00035  *       contributors may be used to endorse or promote products derived from
00036  *       this software without specific prior written permission.
00037  *
00038  * This program is free software: you can redistribute it and/or modify
00039  * it under the terms of the GNU Lesser General Public License LGPL as 
00040  * published by the Free Software Foundation, either version 3 of the 
00041  * License, or (at your option) any later version.
00042  * 
00043  * This program is distributed in the hope that it will be useful,
00044  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00045  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00046  * GNU Lesser General Public License LGPL for more details.
00047  * 
00048  * You should have received a copy of the GNU Lesser General Public 
00049  * License LGPL along with this program. 
00050  * If not, see <http://www.gnu.org/licenses/>.
00051  *
00052  ****************************************************************/
00053 
00054 
00055 #ifndef CANITF_INCLUDEDEF_H
00056 #define CANITF_INCLUDEDEF_H
00057 //-----------------------------------------------
00058 #include <cob_generic_can/CanMsg.h>
00059 //-----------------------------------------------
00060 
00065 class CanItf
00066 {
00067 public:
00068         enum CanItfType {
00069                 CAN_PEAK = 0,
00070                 CAN_PEAK_USN = 1,
00071                 CAN_ESD = 2,
00072                 CAN_DUMMY = 3,
00073                 CAN_BECKHOFF = 4
00074         };
00075         
00080         virtual ~CanItf() {
00081         }
00082         
00086         virtual void init() = 0;
00087 
00093         virtual bool transmitMsg(CanMsg CMsg, bool bBlocking = true) = 0;
00094 
00099         virtual bool receiveMsg(CanMsg* pCMsg) = 0;
00100 
00108         virtual bool receiveMsgRetry(CanMsg* pCMsg, int iNrOfRetry) = 0;
00109 
00114         virtual bool isObjectMode() = 0;
00115         
00121         void setCanItfType(CanItfType iType) { m_iCanItfType = iType; }
00122         
00128         CanItfType getCanItfType() { return m_iCanItfType; }
00129         
00130 private:
00132         CanItfType m_iCanItfType;
00133 };
00134 //-----------------------------------------------
00135 
00136 #endif
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cob_generic_can
Author(s): Christian Connette
autogenerated on Fri Mar 1 2013 17:46:39