ProtocolMessage.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 
00035  * License, or (at your option) any later version. 
00036  * 
00037  * This program is distributed in the hope that it will be useful, 
00038  * but WITHOUT ANY WARRANTY; without even the implied warranty of 
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 
00043  * License LGPL along with this program. 
00044  * If not, see <http://www.gnu.org/licenses/>.
00045  * 
00046  ******************************************************************************/
00047 
00048 
00049 #ifndef CPROTOCOLMESSAGE_H
00050 #define CROTOCOLMESSAGE_H
00051 
00052 #include "../Util/GlobalDefines.h"
00053 
00054 class CProtocolMessage  
00055 {
00056         public:
00057 
00058                 // ---- public data ----------------------------------------------------- ;
00059 
00060                 unsigned long m_uiMessageId;            //  Identifier 11-/29-Bit
00061                                                                                         //  11 bit in low word, 29 bit complete
00062                 unsigned char m_ucMessageLength;        //  number of data bytes (0-8)
00063                 unsigned char m_aucMessageData[8];      //  Array for up to 8 data bytes
00064                 unsigned char m_ucMessageState;         //  Bit coded information for state
00065                 bool m_bRTRFlag;                                        //  RTR-Bit: 0=Dataframe, 1=Remoteframe
00066                 double m_fTime;                                         //  time stamp in sec
00067                 int m_iModuleId;                                        //  module bus address
00068         
00069                 // ---- constructors / destructor --------------------------------------- ;
00070 
00072                         CProtocolMessage();
00074                         CProtocolMessage(const CProtocolMessage& rclProtocolMessage);
00076                         ~CProtocolMessage();
00077                 // ---- operators ------------------------------------------------------ ;
00078                 
00079                         // assignment operator
00080                         CProtocolMessage& operator=(const CProtocolMessage& rclProtocolMessage);
00081 };
00082 
00083 typedef struct
00084 { 
00085         unsigned char m_aucMessageId[2];
00086         unsigned char m_aucMessageData[8];
00087         unsigned char m_ucMessageLength;
00088 } CRS232Message;
00089 
00090 typedef union
00091 {
00092         unsigned char aucData[4];
00093         char acData[4];
00094         unsigned short auiData[2];
00095         short aiData[2];
00096         unsigned long uiData;
00097         long iData;
00098         float fData;
00099 } CProtocolData;
00100 
00101 #endif


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