sick_tim_common_usb.h
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1 /*
2  * Copyright (C) 2013, Osnabrück University
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of Osnabrück University nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  *
29  * Created on: 24.05.2012
30  *
31  * Authors:
32  * Jochen Sprickerhof <jochen@sprickerhof.de>
33  * Martin Günther <mguenthe@uos.de>
34  *
35  * Based on the TiM communication example by SICK AG.
36  *
37  */
38 
39 #ifndef SICK_TIM3XX_COMMON_USB_H_
40 #define SICK_TIM3XX_COMMON_USB_H_
41 
42 #include <stdio.h>
43 #include <stdlib.h>
44 #include <string.h>
45 #include <libusb.h>
46 
47 #include "sick_tim_common.h"
48 
49 namespace sick_tim
50 {
51 
53 {
54 public:
55  SickTimCommonUsb(AbstractParser* parser, int device_number);
56  virtual ~SickTimCommonUsb();
57 
58 protected:
59  virtual int init_device();
60  virtual int close_device();
61 
63  virtual int sendSOPASCommand(const char* request, std::vector<unsigned char> * reply);
64 
66 
71  virtual int get_datagram(unsigned char* receiveBuffer, int bufferSize, int* actual_length);
72 
73 private:
74  static const unsigned int USB_TIMEOUT = 1000; // milliseconds
75 
76  ssize_t getSOPASDeviceList(libusb_context *ctx, uint16_t vendorID, uint16_t productID, libusb_device ***list);
77  void freeSOPASDeviceList(libusb_device **list);
78 
79  void printUSBDeviceDetails(struct libusb_device_descriptor desc);
80  void printUSBInterfaceDetails(libusb_device* device);
81  void printSOPASDeviceInformation(ssize_t numberOfDevices, libusb_device** devices);
82 
83  // libusb
84  libusb_context *ctx_;
86  libusb_device **devices_;
87  libusb_device_handle *device_handle_;
89 };
90 
91 } /* namespace sick_tim */
92 #endif /* SICK_TIM3XX_COMMON_USB_H_ */
void printSOPASDeviceInformation(ssize_t numberOfDevices, libusb_device **devices)
void printUSBDeviceDetails(struct libusb_device_descriptor desc)
virtual int get_datagram(unsigned char *receiveBuffer, int bufferSize, int *actual_length)
Read a datagram from the device.
virtual int sendSOPASCommand(const char *request, std::vector< unsigned char > *reply)
Send a SOPAS command to the device and print out the response to the console.
libusb_device_handle * device_handle_
ssize_t getSOPASDeviceList(libusb_context *ctx, uint16_t vendorID, uint16_t productID, libusb_device ***list)
void printUSBInterfaceDetails(libusb_device *device)
SickTimCommonUsb(AbstractParser *parser, int device_number)
parser
static const unsigned int USB_TIMEOUT
void freeSOPASDeviceList(libusb_device **list)


sick_tim
Author(s): Jochen Sprickerhof , Martin Günther , Sebastian Pütz
autogenerated on Wed Jun 17 2020 04:05:36