ESDDevice.h
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00001 
00002 /******************************************************************************
00003  * 
00004  * Copyright (c) 2012 
00005  * 
00006  * SCHUNK GmbH & Co. KG
00007  *  
00008  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
00009  * 
00010  * Project name: Drivers for "Amtec M5 Protocol" Electronics V4
00011  *                                                                        
00012  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
00013  * 
00014  * Email:robotics@schunk.com
00015  * 
00016  * ToDo: 
00017  * 
00018  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
00019  * 
00020  * Redistribution and use in source and binary forms, with or without 
00021  * modification, are permitted provided that the following conditions are met: 
00022  * 
00023  *  * Redistributions of source code must retain the above copyright 
00024  *    notice, this list of conditions and the following disclaimer. 
00025  *  * Redistributions in binary form must reproduce the above copyright 
00026  *    notice, this list of conditions and the following disclaimer in the 
00027  *    documentation and/or other materials provided with the distribution. 
00028  *  * Neither the name of SCHUNK GmbH & Co. KG nor the names of its 
00029  *    contributors may be used to endorse or promote products derived from 
00030  *    this software without specific prior written permission. 
00031  * 
00032  * This program is free software: you can redistribute it and/or modify 
00033  * it under the terms of the GNU Lesser General Public License LGPL as 
00034  * published by the Free Software Foundation, either version 3 of the 
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00036  * 
00037  * This program is distributed in the hope that it will be useful, 
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00039  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the 
00040  * GNU Lesser General Public License LGPL for more details. 
00041  * 
00042  * You should have received a copy of the GNU Lesser General Public 
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00044  * If not, see <http://www.gnu.org/licenses/>.
00045  * 
00046  ******************************************************************************/
00047 
00048 #ifndef CESDDEVICE_H
00049 #define CESDDEVICE_H
00050 
00051 #include "../Device/ProtocolDevice.h"
00052 
00053 class CESDDevice : public CProtocolDevice  
00054 {
00055         private:
00056 
00057                 // ---- private data ---------------------------------------------------- ;
00058         
00059                 // ---- private auxiliary functions ------------------------------------- ;
00060 
00061         protected:
00062 
00063                 // ---- protected data -------------------------------------------------- ;
00064 
00065 #if defined (_WIN32)
00066                         HANDLE m_hDevice;
00067                         HANDLE m_hSyncDevice;
00068 #endif
00069 #if defined(__LINUX__)
00070 //                      HANDLE m_hDevice;
00071 //                      HANDLE m_hSyncDevice;
00072                         int m_hDevice;
00073                         int m_hSyncDevice;
00074 #endif
00075 #if defined (__QNX__)
00076                         int m_hDevice;
00077                         int m_hSyncDevice;
00078 #endif
00079                         int m_iDeviceId;
00080                         unsigned long  m_uiBaudRate;    
00081                         unsigned short m_uiQueueSize;
00082                         unsigned long m_uiTimeOut;
00083 
00084                 // ---- protected auxiliary functions ----------------------------------- ;
00085 
00086                         int getDeviceError(int iErrorState);
00087                         int setBaudRate();
00088                         int setMessageId(unsigned long uiMessageId);
00089                         int clearReadQueue();
00090                         int reinit(unsigned char ucBaudRateId);
00091                         int readDevice(CProtocolMessage& rclProtocolMessage);
00092                         int writeDevice(CProtocolMessage& rclProtocolMessage);
00093 
00094         public:
00095 
00096                 // ---- public data ----------------------------------------------------- ;
00097 
00098 
00099         
00100                 // ---- constructors / destructor --------------------------------------- ;
00101 
00103                         CESDDevice();
00105                         CESDDevice(const CESDDevice& rclESDDevice);
00107                         virtual ~CESDDevice();
00108 
00109                 // ---- operators ------------------------------------------------------- ;
00110                 
00111                         // assignment operator
00112                         CESDDevice& operator=(const CESDDevice& rclESDDevice);
00113 
00114                 // ---- query functions ------------------------------------------------- ;
00115 
00116                 // ---- modify functions ------------------------------------------------ ;
00117                         
00118                         void setQueueSize(unsigned short uiQueueSize);
00119                         void setTimeOut(unsigned long uiTimeOut);
00120 
00121                 // ---- I/O functions --------------------------------------------------- ;
00122 
00123                 // ---- exec functions -------------------------------------------------- ;
00124 
00125                         int init();
00126                         int init(const char* acInitString);
00127                         int exit();
00128                         int waitForStartMotionAll();
00129 };
00130 
00131 #endif
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schunk_libm5api
Author(s): Florian Weisshardt
autogenerated on Tue Mar 5 2013 14:44:33