ProtocolDevice.h

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/******************************************************************************
 * 
 * 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 
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 * 
 * 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/>.
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 ******************************************************************************/


#ifndef CPROTOCOLDEVICE_H
#define CPROTOCOLDEVICE_H

#include "../Device/Device.h"
#include "../Device/ProtocolMessage.h"
#include "../Util/Random.h"
#include "../Util/StopWatch.h"

#define READ 1
#define WRITE 0

class CProtocolDevice : public CDevice  
{
        private:

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

        protected:

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

                        CRITICAL_SECTION m_csDevice;
                        CStopWatch m_clTimer;

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

                        int getUnsignedLong(int iModuleId, unsigned long* puiData);

                        int readChar(int iModuleId, int iCommandId, int iParameterId, char* pcData);
                        int readUnsignedChar(int iModuleId, int iCommandId, int iParameterId, unsigned char* pucData);
                        int readShort(int iModuleId, int iCommandId, int iParameterId, short* piData);
                        int readUnsignedShort(int iModuleId, int iCommandId, int iParameterId, unsigned short* puiData);
                        int readLong(int iModuleId, int iCommandId, int iParameterId, long* piData);
                        int readUnsignedLong(int iModuleId, int iCommandId, int iParameterId, unsigned long* puiData);
                        int readFloat(int iModuleId, int iCommandId, int iParameterId, float* pfData);

                        int readLongUnsignedChars(int iModuleId, int iCommandId, int iParameterId, long* piData, unsigned char* pucData1, unsigned char* pucData2);
                        int readFloatUnsignedChars(int iModuleId, int iCommandId, int iParameterId, float* pfData, unsigned char* pucData1, unsigned char* pucData2);

                        int write8Bytes(int iModuleId, bool bAck, void* pBytes); 

                        int writeChar(int iModuleId, int iCommandId, int iParameterId, char cData);
                        int writeUnsignedChar(int iModuleId, int iCommandId, int iParameterId, unsigned char ucData);
                        int writeShort(int iModuleId, int iCommandId, int iParameterId, short iData);
                        int writeUnsignedShort(int iModuleId, int iCommandId, int iParameterId, unsigned short uiData);
                        int writeLong(int iModuleId, int iCommandId, int iParameterId, long iData);
                        int writeUnsignedLong(int iModuleId, int iCommandId, int iParameterId, unsigned long uiData);
                        int writeFloat(int iModuleId, int iCommandId, int iParameterId, float fData);

                        int writeAll(int iCommandId, int iParameterId);
                        int writeCommand(int iModuleId, int iCommandId);

                        int writeLongShort(int iModuleId, int iCommandId, int iParameterId, long iData1, short iData2);
                        int writeFloatShort(int iModuleId, int iCommandId, int iParameterId, float fData, short iData);

                        int writeShortReadLongUnsignedChars(int iModuleId, int iCommandId, int iParameterId, short iData, long* piData, unsigned char* pucData1, unsigned char* pucData2);
                        int writeLongReadLongUnsignedChars(int iModuleId, int iCommandId, int iParameterId, long iData, long* piData, unsigned char* pucData1, unsigned char* pucData2);
                        int writeLongShortReadLongUnsignedChars(int iModuleId, int iCommandId, int iParameterId, long iData1, short iData2, long* piData, unsigned char* pucData1, unsigned char* pucData2);
                        int writeFloatReadFloatUnsignedChars(int iModuleId, int iCommandId, int iParameterId, float fData, float* pfData, unsigned char* pucData1, unsigned char* pucData2);
                        int writeFloatShortReadFloatUnsignedChars(int iModuleId, int iCommandId, int iParameterId, float fData, short iData, float* pfData, unsigned char* pucData1, unsigned char* pucData2);

                        virtual int reinit(unsigned char ucBaudRateId) = 0;
                        virtual int clearReadQueue() = 0;
                        virtual int setMessageId(unsigned long uiMessageId) = 0;
                        virtual int readDevice(CProtocolMessage& rclProtocolMessage) = 0;
                        virtual int writeDevice(CProtocolMessage& rclProtocolMessage) = 0;
                        int printMessage(CProtocolMessage & rclProtocolMessage, bool read);

        public:

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

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

                        CProtocolDevice();
                        CProtocolDevice(const CProtocolDevice& rclProtocolDevice);
                        virtual ~CProtocolDevice();

                // ---- operators ------------------------------------------------------- ;
                
                        // assignment operator
                        CProtocolDevice& operator=(const CProtocolDevice& rclProtocolDevice);

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

                        int getDataDLR_FTS(std::vector<float>& rafData, long* piState);
                        int getDataSCHUNK_FTC(int iModuleId, int iChannelTypeId, std::vector<float>& rafData, short* piState);
                        int getDataMP55_IO(int iModuleId, float* pfData);
                        int getDataMP55_IO_fast(int iModuleId, float* pfData);
                        int getCanOpenRawAbsEnc(int iModuleId, short* piValue);

                // ---- modify functions ------------------------------------------------ ;

                        int setNullSCHUNK_FTC(int iModuleId, short* piState);
                        int setTaraMP55_IO(int iModuleId, float fTara);
                        int setInitMP55_IO_fast(int iModuleId);

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

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

                        int initDLR_FTS();

};

#endif