CP5X11Device.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 
00049 #ifndef CCP5X11DEVICE_H
00050 #define CCP5X11DEVICE_H
00051 
00052 #include "../Device/ProtocolDevice.h"
00053 #include "../Util/StopWatch.h"
00054 
00055 class CCP5X11Device : public CProtocolDevice 
00056 {
00057         private:
00058 
00059                 // ---- private data ---------------------------------------------------- ;
00060         
00061                 // ---- private auxiliary functions ------------------------------------- ;
00062 
00063         protected:
00064 
00065                 // ---- protected data -------------------------------------------------- ;
00066 
00067                         unsigned char m_hDevice; 
00068                         unsigned char m_access;
00069 
00070                         unsigned long m_uiTimeOut;
00071                         unsigned char m_teaser;  
00072                         CStopWatch m_clTimer;
00073 
00074                 // ---- protected auxiliary functions ----------------------------------- ;
00075 
00076                         int getDeviceError(int iErrorState);
00077                         int setBaudRate();
00078                         int setMessageId(unsigned long uiMessageId);
00079                         int clearReadQueue();
00080                         int reinit(unsigned char ucBaudRateId);
00081                         int readDevice(CProtocolMessage& rclProtocolMessage);
00082                         int writeDevice(CProtocolMessage& rclProtocolMessage);
00083 
00084         public:
00085 
00086                 // ---- public data ----------------------------------------------------- ;
00087 
00088 
00089         
00090                 // ---- constructors / destructor --------------------------------------- ;
00091 
00093                         CCP5X11Device();
00095                         CCP5X11Device(const CCP5X11Device& rclCP5X11Device);
00097                         virtual ~CCP5X11Device();
00098 
00099                 // ---- operators ------------------------------------------------------- ;
00100                 
00101                         // assignment operator
00102                         CCP5X11Device& operator=(const CCP5X11Device& rclCP5X11Device);
00103 
00104                 // ---- query functions ------------------------------------------------- ;
00105 
00106                 // ---- modify functions ------------------------------------------------ ;
00107 
00108                         void setTimeOut(unsigned long uiTimeOut);
00109 
00110                 // ---- I/O functions --------------------------------------------------- ;
00111 
00112 
00113                 // ---- exec functions -------------------------------------------------- ;
00114 
00115                         int init();
00116                         int init(const char* acInitString);
00117                         int exit();
00118 };
00119 
00120 #endif


schunk_libm5api
Author(s): Florian Weisshardt
autogenerated on Thu Aug 27 2015 15:06:52