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<h1>cplBase.h</h1> </div>
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<a href="cplBase_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Katana Native Interface - A C++ interface to the robot arm Katana.</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2005 Neuronics AG</span>
<a name="l00004"></a>00004 <span class="comment"> * Check out the AUTHORS file for detailed contact information.</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00018"></a>00018 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020
<a name="l00021"></a>00021
<a name="l00022"></a>00022 <span class="comment">/****************************************************************************/</span>
<a name="l00023"></a>00023 <span class="preprocessor">#ifndef _CPLBASE_H_</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define _CPLBASE_H_</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="comment">/****************************************************************************/</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "common/dllexport.h"</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "KNI/cdlBase.h"</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="comment">/****************************************************************************/</span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#if !defined (BYTE_DECLARED)</span>
<a name="l00032"></a><a class="code" href="cplBase_8h.html#a15703639675649efebe5b8aa49217f91">00032</a> <span class="preprocessor"></span><span class="preprocessor">#define BYTE_DECLARED</span>
<a name="l00033"></a><a class="code" href="cplBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">00033</a> <span class="preprocessor"></span><span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a>;
<a name="l00034"></a>00034 <span class="preprocessor">#endif</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span>
<a name="l00036"></a>00036 <span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038
<a name="l00047"></a><a class="code" href="classCCplBase.html">00047</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#af6e7daabccc187ef1005a8e9a68ecce4">DLLDIR</a> <a class="code" href="classCCplBase.html" title="Abstract base class for protocol definiton.">CCplBase</a> {
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <span class="keyword">protected</span>:
<a name="l00050"></a><a class="code" href="classCCplBase.html#ab2bdbdb92aff57328fe0c7a820967f21">00050</a> <a class="code" href="classCCdlBase.html" title="Abstract base class for devices.">CCdlBase</a>* <a class="code" href="classCCplBase.html#ab2bdbdb92aff57328fe0c7a820967f21" title="communication device">device</a>;
<a name="l00051"></a><a class="code" href="classCCplBase.html#a2b0c82d7be03404d9a535bc95d77b7fb">00051</a> <span class="keywordtype">short</span> <a class="code" href="classCCplBase.html#a2b0c82d7be03404d9a535bc95d77b7fb" title="master version of robot we are communicating with">mMasterVersion</a>;
<a name="l00052"></a><a class="code" href="classCCplBase.html#a4d35345c97ece7876b80c0e4329dbd47">00052</a> <span class="keywordtype">short</span> <a class="code" href="classCCplBase.html#a4d35345c97ece7876b80c0e4329dbd47" title="master firmware revision">mMasterRevision</a>;
<a name="l00053"></a>00053
<a name="l00054"></a>00054 <span class="keyword">public</span>:
<a name="l00055"></a>00055
<a name="l00061"></a>00061 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> init(<a class="code" href="classCCdlBase.html" title="Abstract base class for devices.">CCdlBase</a>* _device, <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a> _kataddr = 24) = 0;
<a name="l00062"></a>00062
<a name="l00069"></a>00069 <span class="keyword">virtual</span> <span class="keywordtype">void</span> comm(<span class="keyword">const</span> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a>* pack, <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a>* buf, <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a>* size) = 0;
<a name="l00070"></a>00070
<a name="l00075"></a><a class="code" href="classCCplBase.html#aef21aea904249c5abfb42bd36104b7ef">00075</a> <span class="keyword">virtual</span> <a class="code" href="classCCplBase.html#aef21aea904249c5abfb42bd36104b7ef" title="destructor">~CCplBase</a>() {};
<a name="l00076"></a>00076
<a name="l00081"></a>00081 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getMasterFirmware(<span class="keywordtype">short</span>* fw, <span class="keywordtype">short</span>* rev) = 0;
<a name="l00082"></a>00082 };
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="comment">/****************************************************************************/</span>
<a name="l00085"></a>00085 <span class="preprocessor">#endif //_CPLBASE_H_</span>
<a name="l00086"></a>00086 <span class="preprocessor"></span><span class="comment">/****************************************************************************/</span>
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