cplBase.h
Go to the documentation of this file.
00001 /*
00002  *   Katana Native Interface - A C++ interface to the robot arm Katana.
00003  *   Copyright (C) 2005 Neuronics AG
00004  *   Check out the AUTHORS file for detailed contact information.
00005  *
00006  *   This program is free software; you can redistribute it and/or modify
00007  *   it under the terms of the GNU General Public License as published by
00008  *   the Free Software Foundation; either version 2 of the License, or
00009  *   (at your option) any later version.
00010  *
00011  *   This program is distributed in the hope that it will be useful,
00012  *   but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *   GNU General Public License for more details.
00015  *
00016  *   You should have received a copy of the GNU General Public License
00017  *   along with this program; if not, write to the Free Software
00018  *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  */
00020 
00021 
00022 /****************************************************************************/
00023 #ifndef _CPLBASE_H_
00024 #define _CPLBASE_H_
00025 /****************************************************************************/
00026 #include "common/dllexport.h"
00027 #include "KNI/cdlBase.h"
00028 
00029 /****************************************************************************/
00030 
00031 #if !defined (BYTE_DECLARED)
00032 #define BYTE_DECLARED
00033 typedef unsigned char byte;     
00034 #endif
00035 
00036 //--------------------------------------------------------------------------//
00037 
00038 
00047 class DLLDIR CCplBase {
00048 
00049 protected:
00050         CCdlBase*       device; 
00051         short mMasterVersion;   
00052         short mMasterRevision;  
00053 
00054 public:
00055 
00061         virtual bool init(CCdlBase* _device, byte _kataddr = 24) = 0;
00062 
00069         virtual void comm(const byte* pack, byte* buf, byte* size) = 0;
00070 
00075         virtual ~CCplBase() {};
00076 
00081         virtual void getMasterFirmware(short* fw, short* rev) = 0;
00082 };
00083 
00084 /****************************************************************************/
00085 #endif //_CPLBASE_H_
00086 /****************************************************************************/


kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Mon Oct 6 2014 10:45:32