sick_tim_common_usb.h
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00001 /*
00002  * Copyright (C) 2013, Osnabrück University
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Osnabrück University nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  *  Created on: 24.05.2012
00030  *
00031  *      Authors:
00032  *         Jochen Sprickerhof <jochen@sprickerhof.de>
00033  *         Martin Günther <mguenthe@uos.de>
00034  *
00035  * Based on the TiM communication example by SICK AG.
00036  *
00037  */
00038 
00039 #ifndef SICK_TIM3XX_COMMON_USB_H_
00040 #define SICK_TIM3XX_COMMON_USB_H_
00041 
00042 #include <stdio.h>
00043 #include <stdlib.h>
00044 #include <string.h>
00045 #include <libusb.h>
00046 
00047 #include "sick_tim_common.h"
00048 
00049 namespace sick_tim
00050 {
00051 
00052 class SickTimCommonUsb : public SickTimCommon
00053 {
00054 public:
00055   SickTimCommonUsb(AbstractParser* parser, int device_number);
00056   virtual ~SickTimCommonUsb();
00057 
00058 protected:
00059   virtual int init_device();
00060   virtual int close_device();
00061 
00063   virtual int sendSOPASCommand(const char* request, std::vector<unsigned char> * reply);
00064 
00066 
00071   virtual int get_datagram(unsigned char* receiveBuffer, int bufferSize, int* actual_length);
00072 
00073 private:
00074   static const unsigned int USB_TIMEOUT = 1000; // milliseconds
00075 
00076   ssize_t getSOPASDeviceList(libusb_context *ctx, uint16_t vendorID, uint16_t productID, libusb_device ***list);
00077   void freeSOPASDeviceList(libusb_device **list);
00078 
00079   void printUSBDeviceDetails(struct libusb_device_descriptor desc);
00080   void printUSBInterfaceDetails(libusb_device* device);
00081   void printSOPASDeviceInformation(ssize_t numberOfDevices, libusb_device** devices);
00082 
00083   // libusb
00084   libusb_context *ctx_;
00085   ssize_t numberOfDevices_;
00086   libusb_device **devices_;
00087   libusb_device_handle *device_handle_;
00088   int device_number_;
00089 };
00090 
00091 } /* namespace sick_tim */
00092 #endif /* SICK_TIM3XX_COMMON_USB_H_ */


sick_tim
Author(s): Jochen Sprickerhof , Martin Günther
autogenerated on Mon Aug 14 2017 02:16:11