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<h1>cdlCOM.h</h1> </div>
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<a href="cdlCOM_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
<a name="l00023"></a>00023 <span class="preprocessor">#ifndef _CDLCOM_H_</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define _CDLCOM_H_</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "common/dllexport.h"</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="preprocessor">#include "KNI/cdlBase.h"</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include "KNI/cdlCOMExceptions.h"</span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#include <string></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="comment">//-------------------------------------------------------//</span>
<a name="l00035"></a>00035 <span class="preprocessor">#ifdef WIN32</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="comment">//-------------------------------------------------------//</span>
<a name="l00037"></a>00037 <span class="preprocessor"> #include <windows.h></span>
<a name="l00038"></a>00038 <span class="comment">//-------------------------------------------------------//</span>
<a name="l00039"></a>00039 <span class="preprocessor">#else //LINUX</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="comment">//-------------------------------------------------------//</span>
<a name="l00041"></a>00041 <span class="preprocessor"> #include <termios.h></span>
<a name="l00042"></a>00042 <span class="preprocessor"> #include <fcntl.h></span>
<a name="l00043"></a>00043 <span class="preprocessor"> #include <cerrno></span>
<a name="l00044"></a>00044 <span class="comment">//-------------------------------------------------------//</span>
<a name="l00045"></a>00045 <span class="preprocessor">#endif //WIN32 else LINUX</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="comment">//-------------------------------------------------------//</span>
<a name="l00047"></a>00047
<a name="l00048"></a>00048
<a name="l00053"></a><a class="code" href="structTCdlCOMDesc.html">00053</a> <span class="keyword">struct </span><a class="code" href="structTCdlCOMDesc.html" title="This structrue stores the attributes for a serial port device.">TCdlCOMDesc</a> {
<a name="l00054"></a><a class="code" href="structTCdlCOMDesc.html#a7bf19ebf996ebf267c4fade5da321192">00054</a> <span class="keywordtype">int</span> <a class="code" href="structTCdlCOMDesc.html#a7bf19ebf996ebf267c4fade5da321192" title="serial port number">port</a>;
<a name="l00055"></a><a class="code" href="structTCdlCOMDesc.html#a4eae56d878977a326cf5fc8218a52023">00055</a> <span class="keywordtype">int</span> <a class="code" href="structTCdlCOMDesc.html#a4eae56d878977a326cf5fc8218a52023" title="baud rate of port">baud</a>;
<a name="l00056"></a><a class="code" href="structTCdlCOMDesc.html#a97062a91db7bedf7618a28455b0bb92a">00056</a> <span class="keywordtype">int</span> <a class="code" href="structTCdlCOMDesc.html#a97062a91db7bedf7618a28455b0bb92a" title="data bit">data</a>;
<a name="l00057"></a><a class="code" href="structTCdlCOMDesc.html#ab1a4ccb0b69f884a2c44b8d2cb8a124d">00057</a> <span class="keywordtype">int</span> <a class="code" href="structTCdlCOMDesc.html#ab1a4ccb0b69f884a2c44b8d2cb8a124d" title="parity bit">parity</a>;
<a name="l00058"></a><a class="code" href="structTCdlCOMDesc.html#a8e0703694ae5d911c40605249c082d66">00058</a> <span class="keywordtype">int</span> <a class="code" href="structTCdlCOMDesc.html#a8e0703694ae5d911c40605249c082d66" title="stop bit">stop</a>;
<a name="l00059"></a><a class="code" href="structTCdlCOMDesc.html#aa177c3c6c9248f72c12b4703457cc08a">00059</a> <span class="keywordtype">int</span> <a class="code" href="structTCdlCOMDesc.html#aa177c3c6c9248f72c12b4703457cc08a" title="read total timeout">rttc</a>;
<a name="l00060"></a><a class="code" href="structTCdlCOMDesc.html#a6ef09c120f3d8d10883ce3a07f53977d">00060</a> <span class="keywordtype">int</span> <a class="code" href="structTCdlCOMDesc.html#a6ef09c120f3d8d10883ce3a07f53977d" title="write total timeout">wttc</a>;
<a name="l00061"></a>00061 };
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00064"></a>00064
<a name="l00065"></a>00065
<a name="l00073"></a><a class="code" href="classCCdlCOM.html">00073</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#af6e7daabccc187ef1005a8e9a68ecce4">DLLDIR</a> <a class="code" href="classCCdlCOM.html" title="Encapsulates the serial port device.">CCdlCOM</a> : <span class="keyword">public</span> <a class="code" href="classCCdlBase.html" title="Abstract base class for devices.">CCdlBase</a> {
<a name="l00074"></a>00074 <span class="keyword">private</span>:
<a name="l00075"></a><a class="code" href="classCCdlCOM.html#ad8af234398ca7899d90ecfb6e27a468c">00075</a> std::string <a class="code" href="classCCdlCOM.html#ad8af234398ca7899d90ecfb6e27a468c">_deviceName</a>;
<a name="l00076"></a>00076
<a name="l00077"></a>00077 <span class="keyword">protected</span>:
<a name="l00078"></a>00078
<a name="l00079"></a><a class="code" href="classCCdlCOM.html#a2ba7a1b0df4f2aad1170b6f654b85615">00079</a> <a class="code" href="structTCdlCOMDesc.html" title="This structrue stores the attributes for a serial port device.">TCdlCOMDesc</a> <a class="code" href="classCCdlCOM.html#a2ba7a1b0df4f2aad1170b6f654b85615" title="Stores the attributes of the serial port device.">_ccd</a>;
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="comment">//-------------------------------------------------------//</span>
<a name="l00082"></a>00082 <span class="preprocessor">#ifdef WIN32</span>
<a name="l00083"></a>00083 <span class="preprocessor"></span><span class="comment">//-------------------------------------------------------//</span>
<a name="l00084"></a>00084 HANDLE _prtHdl;
<a name="l00085"></a>00085 COMMTIMEOUTS _oto;
<a name="l00086"></a>00086 <span class="comment">//-------------------------------------------------------//</span>
<a name="l00087"></a>00087 <span class="preprocessor">#else //LINUX</span>
<a name="l00088"></a>00088 <span class="preprocessor"></span><span class="comment">//-------------------------------------------------------//</span>
<a name="l00089"></a><a class="code" href="classCCdlCOM.html#a4b04577f1111563a2569597b10c24817">00089</a> <span class="keywordtype">int</span> <a class="code" href="classCCdlCOM.html#a4b04577f1111563a2569597b10c24817" title="port handle">_prtHdl</a>;
<a name="l00090"></a><a class="code" href="classCCdlCOM.html#aeb67f140122b54d5fdcb591fda17f487">00090</a> <span class="keyword">struct </span>termios _oto;
<a name="l00091"></a>00091 <span class="comment">//-------------------------------------------------------//</span>
<a name="l00092"></a>00092 <span class="preprocessor">#endif //WIN32 else LINUX</span>
<a name="l00093"></a>00093 <span class="preprocessor"></span><span class="comment">//-------------------------------------------------------//</span>
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <span class="keyword">protected</span>:
<a name="l00096"></a>00096
<a name="l00099"></a><a class="code" href="classCCdlCOM.html#ad20ba3d618b0d3e7a214737356a4d1a2">00099</a> <span class="keyword">static</span> <span class="keywordtype">char</span> <a class="code" href="classCCdlCOM.html#ad20ba3d618b0d3e7a214737356a4d1a2" title="Converts an integer to a char.">digit</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> _val) {
<a name="l00100"></a>00100 <span class="keywordflow">return</span> (<span class="keywordtype">char</span>)((int)<span class="charliteral">'0'</span> + _val);
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="keyword">public</span>:
<a name="l00110"></a>00110 <a class="code" href="classCCdlCOM.html" title="Encapsulates the serial port device.">CCdlCOM</a>(<a class="code" href="structTCdlCOMDesc.html" title="This structrue stores the attributes for a serial port device.">TCdlCOMDesc</a> ccd, <span class="keyword">const</span> <span class="keywordtype">char</span> *dev_name = 0);
<a name="l00111"></a>00111 <span class="keyword">virtual</span> ~<a class="code" href="classCCdlCOM.html" title="Encapsulates the serial port device.">CCdlCOM</a>();
<a name="l00114"></a>00114 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classCCdlBase.html#aba5536b5780002dfd20884b79d38f172" title="Pure function to send data.">send</a>(<span class="keyword">const</span> <span class="keywordtype">void</span>* buf, <span class="keywordtype">int</span> size);
<a name="l00117"></a>00117 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classCCdlBase.html#a206a79ca60593b62676f2ef3a8b157a1" title="Pure function to receive data.">recv</a>(<span class="keywordtype">void</span>* buf, <span class="keywordtype">int</span> size);
<a name="l00120"></a>00120 };
<a name="l00121"></a>00121
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="preprocessor">#endif //_CDLCOM_H_</span>
<a name="l00124"></a>00124 <span class="preprocessor"></span>
</pre></div></div>
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