<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>KatanaNativeInterface: CCplSerialCRC Class Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript">
$(document).ready(initResizable);
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css"/>
</head>
<body>
<!-- Generated by Doxygen 1.7.3 -->
<div id="top">
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td style="padding-left: 0.5em;">
<div id="projectname">KatanaNativeInterface <span id="projectnumber">$VERSION$</span></div>
</td>
</tr>
</tbody>
</table>
</div>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
<li><a href="files.html"><span>Files</span></a></li>
<li><a href="dirs.html"><span>Directories</span></a></li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="annotated.html"><span>Class List</span></a></li>
<li><a href="classes.html"><span>Class Index</span></a></li>
<li><a href="inherits.html"><span>Class Hierarchy</span></a></li>
<li><a href="functions.html"><span>Class Members</span></a></li>
</ul>
</div>
</div>
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
initNavTree('classCCplSerialCRC.html','');
</script>
<div id="doc-content">
<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pro-methods">Protected Member Functions</a> </div>
<div class="headertitle">
<h1>CCplSerialCRC Class Reference</h1> </div>
</div>
<div class="contents">
<!-- doxytag: class="CCplSerialCRC" --><!-- doxytag: inherits="CCplSerial" -->
<p>Implement the Serial-Zero protocol.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="cplSerial_8h_source.html">cplSerial.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for CCplSerialCRC:</div>
<div class="dyncontent">
<div class="center"><img src="classCCplSerialCRC__inherit__graph.png" border="0" usemap="#CCplSerialCRC_inherit__map" alt="Inheritance graph"/></div>
<map name="CCplSerialCRC_inherit__map" id="CCplSerialCRC_inherit__map">
<area shape="rect" id="node2" href="classCCplSerial.html" title="Base class of two different serial protocols." alt="" coords="21,227,144,381"/><area shape="rect" id="node4" href="classCCplBase.html" title="Abstract base class for protocol definiton." alt="" coords="5,6,160,178"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<div class="dynheader">
Collaboration diagram for CCplSerialCRC:</div>
<div class="dyncontent">
<div class="center"><img src="classCCplSerialCRC__coll__graph.png" border="0" usemap="#CCplSerialCRC_coll__map" alt="Collaboration graph"/></div>
<map name="CCplSerialCRC_coll__map" id="CCplSerialCRC_coll__map">
<area shape="rect" id="node2" href="classCCplSerial.html" title="Base class of two different serial protocols." alt="" coords="159,432,281,587"/><area shape="rect" id="node4" href="classCCplBase.html" title="Abstract base class for protocol definiton." alt="" coords="5,193,160,365"/><area shape="rect" id="node6" href="classCCdlBase.html" title="Abstract base class for devices." alt="" coords="28,5,137,125"/><area shape="rect" id="node8" href="structTHeader.html" title="Header of a communication packet." alt="" coords="184,227,256,330"/><area shape="rect" id="node10" href="structTPacket.html" title="Communication packet." alt="" coords="280,227,363,330"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classCCplSerialCRC-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCplSerialCRC.html#a6a8106a8071a904892aec70d7dc59ed8">init</a> (<a class="el" href="classCCdlBase.html">CCdlBase</a> *_device, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> _kataddr=24)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initializing function. <a href="#a6a8106a8071a904892aec70d7dc59ed8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCplSerialCRC.html#ab71bec739257750214103bfd9067e03d">comm</a> (const <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> *pack, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> *buf, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> *size)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Communication function. <a href="#ab71bec739257750214103bfd9067e03d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCplSerialCRC.html#a955ccdcd9ee9a1b8519b85ab2700c9ed">getMasterFirmware</a> (short *fw, short *rev)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the master firmware of the robot we are communicating with. <a href="#a955ccdcd9ee9a1b8519b85ab2700c9ed"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCplSerialCRC.html#ac8be1192366d072dc0b8ae7e08964bfc">load_tbl</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads the command table from the robot's firmware. <a href="#ac8be1192366d072dc0b8ae7e08964bfc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCplSerialCRC.html#a3ceb64ef90b257c02d193967e52ee608">defineProtocol</a> (<a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> _kataddr)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Defines the protocol's attributes. <a href="#a3ceb64ef90b257c02d193967e52ee608"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCplSerialCRC.html#a34f9ff36126bb5689bf6f509c294775a">send</a> (<a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> *<a class="el" href="classCCplSerial.html#a04aaf3680d306fc8e0630cda47e267d6">send_buf</a>, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> write_sz, short retries=3)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCplSerialCRC.html#a70733344e42bb5ac1fd4bd88db5ccb46">recv</a> (<a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> *<a class="el" href="classCCplSerial.html#adab2f13f0ab3faea9235adb81a7875f7">read_buf</a>, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> read_sz, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> *size)</td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Implement the Serial-Zero protocol. </p>
<p>Initializing function</p>
<p>Init the protocols basic attributes.</p>
<p>Communication function</p>
<p>Sends a communications packet and receives one from the robot.</p>
<p>Implement the Serial-CRC protocol </p>
<p>Definition at line <a class="el" href="cplSerial_8h_source.html#l00137">137</a> of file <a class="el" href="cplSerial_8h_source.html">cplSerial.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ab71bec739257750214103bfd9067e03d"></a><!-- doxytag: member="CCplSerialCRC::comm" ref="ab71bec739257750214103bfd9067e03d" args="(const byte *pack, byte *buf, byte *size)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void CCplSerialCRC::comm </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> * </td>
<td class="paramname"><em>pack</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> * </td>
<td class="paramname"><em>buf</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> * </td>
<td class="paramname"><em>size</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Communication function. </p>
<p>Sends a communications packet and receives one from the robot. </p>
<p>Implements <a class="el" href="classCCplBase.html#a8f96d7f7bc108dee3e99b028b02b2af2">CCplBase</a>.</p>
</div>
</div>
<a class="anchor" id="a3ceb64ef90b257c02d193967e52ee608"></a><!-- doxytag: member="CCplSerialCRC::defineProtocol" ref="a3ceb64ef90b257c02d193967e52ee608" args="(byte _kataddr)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void CCplSerialCRC::defineProtocol </td>
<td>(</td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td>
<td class="paramname"><em>_kataddr</em></td><td>)</td>
<td><code> [protected, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Defines the protocol's attributes. </p>
<p>Implements <a class="el" href="classCCplSerial.html#a9428975b706d75ae0fce04fea1dfa42c">CCplSerial</a>.</p>
</div>
</div>
<a class="anchor" id="a955ccdcd9ee9a1b8519b85ab2700c9ed"></a><!-- doxytag: member="CCplSerialCRC::getMasterFirmware" ref="a955ccdcd9ee9a1b8519b85ab2700c9ed" args="(short *fw, short *rev)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void CCplSerialCRC::getMasterFirmware </td>
<td>(</td>
<td class="paramtype">short * </td>
<td class="paramname"><em>fw</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short * </td>
<td class="paramname"><em>rev</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Get the master firmware of the robot we are communicating with. </p>
<p>Get master firmware read at initialization time. </p>
<p>Implements <a class="el" href="classCCplBase.html#a4920c0b9c8312ab80bb1fc39a4d54f25">CCplBase</a>.</p>
</div>
</div>
<a class="anchor" id="a6a8106a8071a904892aec70d7dc59ed8"></a><!-- doxytag: member="CCplSerialCRC::init" ref="a6a8106a8071a904892aec70d7dc59ed8" args="(CCdlBase *_device, byte _kataddr=24)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual bool CCplSerialCRC::init </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classCCdlBase.html">CCdlBase</a> * </td>
<td class="paramname"><em>_device</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td>
<td class="paramname"><em>_kataddr</em> = <code>24</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Initializing function. </p>
<p>Init the protocols basic attributes. </p>
<p>Implements <a class="el" href="classCCplBase.html#af552a1fecb58819245c930cb0de05211">CCplBase</a>.</p>
</div>
</div>
<a class="anchor" id="ac8be1192366d072dc0b8ae7e08964bfc"></a><!-- doxytag: member="CCplSerialCRC::load_tbl" ref="ac8be1192366d072dc0b8ae7e08964bfc" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual bool CCplSerialCRC::load_tbl </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [protected, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Loads the command table from the robot's firmware. </p>
<p>Implements <a class="el" href="classCCplSerial.html#a55bbd27e1bde075bb06eb60e75a89f0b">CCplSerial</a>.</p>
</div>
</div>
<a class="anchor" id="a70733344e42bb5ac1fd4bd88db5ccb46"></a><!-- doxytag: member="CCplSerialCRC::recv" ref="a70733344e42bb5ac1fd4bd88db5ccb46" args="(byte *read_buf, byte read_sz, byte *size)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void CCplSerialCRC::recv </td>
<td>(</td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> * </td>
<td class="paramname"><em>read_buf</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td>
<td class="paramname"><em>read_sz</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> * </td>
<td class="paramname"><em>size</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a34f9ff36126bb5689bf6f509c294775a"></a><!-- doxytag: member="CCplSerialCRC::send" ref="a34f9ff36126bb5689bf6f509c294775a" args="(byte *send_buf, byte write_sz, short retries=3)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void CCplSerialCRC::send </td>
<td>(</td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> * </td>
<td class="paramname"><em>send_buf</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td>
<td class="paramname"><em>write_sz</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>retries</em> = <code>3</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/KNI/<a class="el" href="cplSerial_8h_source.html">cplSerial.h</a></li>
</ul>
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="classCCplSerialCRC.html">CCplSerialCRC</a> </li>
<li class="footer">Generated on Tue Feb 8 2011 for KatanaNativeInterface by 
<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.3 </li>
</ul>
</div>
</body>
</html>
