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<h1>kmlSctBase.h</h1> </div>
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<a href="kmlSctBase_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">// C++ Interface: SctBase</span>
<a name="l00003"></a>00003 <span class="comment">//</span>
<a name="l00004"></a>00004 <span class="comment">// Description: </span>
<a name="l00005"></a>00005 <span class="comment">//</span>
<a name="l00006"></a>00006 <span class="comment">//</span>
<a name="l00007"></a>00007 <span class="comment">// Author: Tiziano Müller <tiziano.mueller@neuronics.ch>, (C) 2006</span>
<a name="l00008"></a>00008 <span class="comment">//</span>
<a name="l00009"></a>00009 <span class="comment">// Copyright: See COPYING file that comes with this distribution</span>
<a name="l00010"></a>00010 <span class="comment">//</span>
<a name="l00011"></a>00011 <span class="comment">//</span>
<a name="l00012"></a>00012
<a name="l00013"></a>00013
<a name="l00014"></a>00014 <span class="preprocessor">#ifndef KMLSCTBASE_H</span>
<a name="l00015"></a>00015 <span class="preprocessor"></span><span class="preprocessor">#define KMLSCTBASE_H</span>
<a name="l00016"></a>00016 <span class="preprocessor"></span>
<a name="l00017"></a>00017 <span class="preprocessor">#include "common/dllexport.h"</span>
<a name="l00018"></a>00018
<a name="l00019"></a>00019 <span class="preprocessor">#include "KNI/kmlCommon.h"</span>
<a name="l00020"></a>00020 <span class="preprocessor">#include "KNI/cplBase.h"</span>
<a name="l00021"></a>00021
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="keyword">class </span><a class="code" href="classCKatBase.html" title="Base Katana class.">CKatBase</a>; <span class="comment">//forward declaration</span>
<a name="l00024"></a>00024 <span class="keyword">class </span><a class="code" href="classCSctBase.html" title="Sensor Controller class.">CSctBase</a>; <span class="comment">//forward declaration</span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026
<a name="l00027"></a>00027 <span class="comment">/****************************************************************************/</span>
<a name="l00028"></a>00028 <span class="comment">// CSctBase ----------------------------------------------------------------//</span>
<a name="l00029"></a>00029 <span class="comment">/****************************************************************************/</span>
<a name="l00030"></a>00030
<a name="l00033"></a><a class="code" href="structTSctDesc.html">00033</a> <span class="keyword">struct </span><a class="code" href="structTSctDesc.html" title="sensor controller description (partly)">TSctDesc</a> {
<a name="l00034"></a><a class="code" href="structTSctDesc.html#a2e4e88b734679481a8decf66cf24e373">00034</a> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a> <a class="code" href="structTSctDesc.html#a2e4e88b734679481a8decf66cf24e373" title="controller number (ID)">ctrlID</a>;
<a name="l00035"></a><a class="code" href="structTSctDesc.html#ade727cd6a7ba639ebee4bc49c1265756">00035</a> <span class="keywordtype">short</span> <a class="code" href="structTSctDesc.html#ade727cd6a7ba639ebee4bc49c1265756" title="resolution: 8/12 bit">sens_res</a>;
<a name="l00036"></a><a class="code" href="structTSctDesc.html#a7860101435c5a5ddf47ae40bfb2e3cd5">00036</a> <span class="keywordtype">short</span> <a class="code" href="structTSctDesc.html#a7860101435c5a5ddf47ae40bfb2e3cd5" title="count of sensors">sens_count</a>;
<a name="l00037"></a>00037 };
<a name="l00038"></a>00038
<a name="l00041"></a><a class="code" href="structTKatSCT.html">00041</a> <span class="keyword">struct </span><a class="code" href="structTKatSCT.html" title="[SCT] every sens ctrl&#39;s attributes">TKatSCT</a> {
<a name="l00042"></a><a class="code" href="structTKatSCT.html#a8503667f5275fc12dd3895165f7d7fad">00042</a> <span class="keywordtype">short</span> <a class="code" href="structTKatSCT.html#a8503667f5275fc12dd3895165f7d7fad" title="count of sens ctrl&#39;s">cnt</a>;
<a name="l00043"></a><a class="code" href="structTKatSCT.html#acb7eadd4bc33e4c0c6b5b6d16a37fe0f">00043</a> <a class="code" href="classCSctBase.html" title="Sensor Controller class.">CSctBase</a>* <a class="code" href="structTKatSCT.html#acb7eadd4bc33e4c0c6b5b6d16a37fe0f" title="array of sens ctrl&#39;s">arr</a>;
<a name="l00044"></a><a class="code" href="structTKatSCT.html#af1659baf0b74da86c4d4273a52b3978b">00044</a> <a class="code" href="structTSctDesc.html" title="sensor controller description (partly)">TSctDesc</a>* <a class="code" href="structTKatSCT.html#af1659baf0b74da86c4d4273a52b3978b" title="description[]">desc</a>;
<a name="l00045"></a>00045 };
<a name="l00046"></a>00046
<a name="l00049"></a><a class="code" href="structTSctGNL.html">00049</a> <span class="keyword">struct </span><a class="code" href="structTSctGNL.html" title="[GNL] controller generals">TSctGNL</a> {
<a name="l00050"></a><a class="code" href="structTSctGNL.html#aa989902a2b276eabb3589bc1f27616c0">00050</a> <a class="code" href="classCKatBase.html" title="Base Katana class.">CKatBase</a>* <a class="code" href="structTSctGNL.html#aa989902a2b276eabb3589bc1f27616c0" title="parent robot">own</a>;
<a name="l00051"></a><a class="code" href="structTSctGNL.html#a709edf2ebf6d52471d53a4a73881cb54">00051</a> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a> <a class="code" href="structTSctGNL.html#a709edf2ebf6d52471d53a4a73881cb54" title="slave ID">SID</a>;
<a name="l00052"></a><a class="code" href="structTSctGNL.html#a448029d42041856d5649c43f73befa29">00052</a> <span class="keywordtype">short</span> <a class="code" href="structTSctGNL.html#a448029d42041856d5649c43f73befa29" title="resolution: 8/12 bit">res</a>;
<a name="l00053"></a>00053 };
<a name="l00054"></a>00054
<a name="l00057"></a><a class="code" href="structTSctDAT.html">00057</a> <span class="keyword">struct </span><a class="code" href="structTSctDAT.html" title="[DAT] sensor data">TSctDAT</a> {
<a name="l00058"></a><a class="code" href="structTSctDAT.html#ab57f58aae1bef888f7af5acdc082f14a">00058</a> <span class="keywordtype">short</span> <a class="code" href="structTSctDAT.html#ab57f58aae1bef888f7af5acdc082f14a" title="count of sensors">cnt</a>;
<a name="l00059"></a><a class="code" href="structTSctDAT.html#ae580865bbb632077af776aca045064c6">00059</a> <span class="keywordtype">short</span>* <a class="code" href="structTSctDAT.html#ae580865bbb632077af776aca045064c6" title="sensor data">arr</a>;
<a name="l00060"></a>00060 };
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00063"></a>00063
<a name="l00072"></a><a class="code" href="classCSctBase.html">00072</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#af6e7daabccc187ef1005a8e9a68ecce4">DLLDIR</a> <a class="code" href="classCSctBase.html" title="Sensor Controller class.">CSctBase</a> {
<a name="l00073"></a>00073
<a name="l00074"></a><a class="code" href="classCSctBase.html#a099603b3fbe6a04e3b0d667a5e4770f3">00074</a> <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classCKatBase.html" title="Base Katana class.">CKatBase</a>;
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <span class="keyword">protected</span>:
<a name="l00077"></a><a class="code" href="classCSctBase.html#aaeece9f1c11058a4413adf599d73bbb8">00077</a> <a class="code" href="structTSctGNL.html" title="[GNL] controller generals">TSctGNL</a> <a class="code" href="classCSctBase.html#aaeece9f1c11058a4413adf599d73bbb8" title="controller generals">gnl</a>;
<a name="l00078"></a><a class="code" href="classCSctBase.html#aa622bb2bf7c108763ea6a839f450548b">00078</a> <a class="code" href="structTSctDAT.html" title="[DAT] sensor data">TSctDAT</a> <a class="code" href="classCSctBase.html#aa622bb2bf7c108763ea6a839f450548b" title="sensor data">dat</a>;
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="keyword">public</span>:
<a name="l00081"></a><a class="code" href="classCSctBase.html#a6bd16882abfd2b120f05b78212eb4b39">00081</a> <span class="keyword">const</span> <a class="code" href="structTSctGNL.html" title="[GNL] controller generals">TSctGNL</a>* <a class="code" href="classCSctBase.html#a6bd16882abfd2b120f05b78212eb4b39">GetGNL</a>() { <span class="keywordflow">return</span> &<a class="code" href="classCKatBase.html#ac07e59aae6f45d186b9c17cf5dd18c9c" title="katana general">gnl</a>; }
<a name="l00082"></a><a class="code" href="classCSctBase.html#a4e3e9cafe3cd311a337a056d221a8be9">00082</a> <span class="keyword">const</span> <a class="code" href="structTSctDAT.html" title="[DAT] sensor data">TSctDAT</a>* <a class="code" href="classCSctBase.html#a4e3e9cafe3cd311a337a056d221a8be9">GetDAT</a>() { <span class="keywordflow">return</span> &dat; }
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="keyword">protected</span>:
<a name="l00085"></a><a class="code" href="classCSctBase.html#add878112401157c594594d6a171d8d9d">00085</a> <a class="code" href="classCCplBase.html" title="Abstract base class for protocol definiton.">CCplBase</a>* <a class="code" href="classCSctBase.html#add878112401157c594594d6a171d8d9d" title="protocol interface">protocol</a>;
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="keyword">public</span>:
<a name="l00088"></a><a class="code" href="classCSctBase.html#a7b7f147d14b2a9a43db01212e4e78df0">00088</a> <span class="keyword">virtual</span> <a class="code" href="classCSctBase.html#a7b7f147d14b2a9a43db01212e4e78df0">~CSctBase</a>() {} <span class="comment">//destructor</span>
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="keywordtype">bool</span> <a class="code" href="classCKatBase.html#a73d003579561bb2a91d043362b8568c7">init</a>(<a class="code" href="classCKatBase.html" title="Base Katana class.">CKatBase</a>* _own, <span class="keyword">const</span> <a class="code" href="structTSctDesc.html" title="sensor controller description (partly)">TSctDesc</a> _sctDesc, <a class="code" href="classCCplBase.html" title="Abstract base class for protocol definiton.">CCplBase</a>* <a class="code" href="classCKatBase.html#afc5f8ed4cd2793a9b839ccbbf4e72a4a" title="protocol interface">protocol</a>);
<a name="l00091"></a>00091
<a name="l00094"></a>00094 <span class="keywordtype">void</span> recvDAT();
<a name="l00095"></a>00095 };
<a name="l00096"></a>00096
<a name="l00097"></a>00097
<a name="l00098"></a>00098
<a name="l00099"></a>00099
<a name="l00100"></a>00100
<a name="l00101"></a>00101
<a name="l00102"></a>00102
<a name="l00103"></a>00103
<a name="l00104"></a>00104
<a name="l00105"></a>00105
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="preprocessor">#endif</span>
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