PCanDevice.h

Go to the documentation of this file.

/******************************************************************************
 * 
 * Copyright (c) 2012 
 * 
 * SCHUNK GmbH & Co. KG
 *  
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Project name: Drivers for "Amtec M5 Protocol" Electronics V4
 *                                                                        
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Email:robotics@schunk.com
 * 
 * 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 SCHUNK GmbH & Co. KG 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 CPCANDEVICE_H
#define CPCANDEVICE_H

#include "../Device/ProtocolDevice.h"
#include "libpcan.h"

class CPCanDevice : public CProtocolDevice  
{
        private:

                // ---- private data ---------------------------------------------------- ;
        
                // ---- private auxiliary functions ------------------------------------- ;

        protected:

                // ---- protected data -------------------------------------------------- ;

                        HANDLE m_handle;
                        int m_hDevice;
                        int m_hSyncDevice;
                        int m_iDeviceId;
                        bool m_bInitialized;
                        unsigned long  m_uiBaudRate;    
                        unsigned short m_uiQueueSize;
                        unsigned long m_uiTimeOut;
                        int m_iNoOfRetries;

                // ---- protected auxiliary functions ----------------------------------- ;

                        int getDeviceError(int iErrorState);
                        int setBaudRate();
                        int setBaudRate(unsigned char iBaudRate);
                        int setMessageId(unsigned long uiMessageId);
                        int clearReadQueue();
                        int reinit(unsigned char ucBaudRateId);
                        int readDevice(CProtocolMessage& rclProtocolMessage);
                        int writeDevice(CProtocolMessage& rclProtocolMessage);
                        char * m_DeviceName;

        public:

                // ---- public data ----------------------------------------------------- ;


        
                // ---- constructors / destructor --------------------------------------- ;

                        CPCanDevice();
                        CPCanDevice(const CPCanDevice& rclPCanDevice);
                        virtual ~CPCanDevice();

                // ---- operators ------------------------------------------------------- ;
                
                        // assignment operator
                        CPCanDevice& operator=(const CPCanDevice& rclPCanDevice);

                // ---- query functions ------------------------------------------------- ;

                // ---- modify functions ------------------------------------------------ ;
                        
                        void setQueueSize(unsigned short uiQueueSize);
                        void setTimeOut(unsigned long uiTimeOut);

                // ---- I/O functions --------------------------------------------------- ;

                // ---- exec functions -------------------------------------------------- ;

                        int init();
                        int init(unsigned long baudRate);
                        int init(const char* acInitString);
                        int exit();
                        int waitForStartMotionAll();
};

#endif