KatanaNativeInterface  $VERSION$
cdlCOM.h
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1 /*
2  * Katana Native Interface - A C++ interface to the robot arm Katana.
3  * Copyright (C) 2005 Neuronics AG
4  * Check out the AUTHORS file for detailed contact information.
5  *
6  * This program is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  *
11  * This program is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with this program; if not, write to the Free Software
18  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19  */
20 
21 
22 
23 #ifndef _CDLCOM_H_
24 #define _CDLCOM_H_
25 
26 #include "common/dllexport.h"
27 
28 #include "KNI/cdlBase.h"
29 #include "KNI/cdlCOMExceptions.h"
30 
31 #include <string>
32 
33 
34 //-------------------------------------------------------//
35 #ifdef WIN32
36 //-------------------------------------------------------//
37  #include <windows.h>
38 //-------------------------------------------------------//
39 #else //LINUX
40 //-------------------------------------------------------//
41  #include <termios.h>
42  #include <fcntl.h>
43  #include <cerrno>
44 //-------------------------------------------------------//
45 #endif //WIN32 else LINUX
46 //-------------------------------------------------------//
47 
48 
53 struct TCdlCOMDesc {
54  int port;
55  int baud;
56  int data;
57  int parity;
58  int stop;
59  int rttc;
60  int wttc;
61 };
62 
63 //--------------------------------------------------------------------------//
64 
65 
73 class DLLDIR CCdlCOM : public CCdlBase {
74 private:
75  std::string _deviceName;
76 
77 protected:
78 
80 
81 //-------------------------------------------------------//
82 #ifdef WIN32
83 //-------------------------------------------------------//
84  HANDLE _prtHdl;
85  COMMTIMEOUTS _oto;
86 //-------------------------------------------------------//
87 #else //LINUX
88 //-------------------------------------------------------//
89  int _prtHdl;
90  struct termios _oto;
91 //-------------------------------------------------------//
92 #endif //WIN32 else LINUX
93 //-------------------------------------------------------//
94 
95 protected:
96 
99  static char digit(const int _val) {
100  return (char)((int)'0' + _val);
101  }
102 
103 public:
110  CCdlCOM(TCdlCOMDesc ccd, const char *dev_name = 0);
111  virtual ~CCdlCOM();
114  virtual int send(const void* buf, int size);
117  virtual int recv(void* buf, int size);
120 };
121 
122 
123 #endif //_CDLCOM_H_
124 
static char digit(const int _val)
Converts an integer to a char.
Definition: cdlCOM.h:99
int data
data bit
Definition: cdlCOM.h:56
int stop
stop bit
Definition: cdlCOM.h:58
#define DLLDIR
Definition: dllexport.h:30
std::string _deviceName
Definition: cdlCOM.h:75
int wttc
write total timeout
Definition: cdlCOM.h:60
int baud
baud rate of port
Definition: cdlCOM.h:55
int port
serial port number
Definition: cdlCOM.h:54
This structrue stores the attributes for a serial port device.
Definition: cdlCOM.h:53
TCdlCOMDesc _ccd
Stores the attributes of the serial port device.
Definition: cdlCOM.h:79
int _prtHdl
port handle
Definition: cdlCOM.h:89
Encapsulates the serial port device.
Definition: cdlCOM.h:73
int rttc
read total timeout
Definition: cdlCOM.h:59
Abstract base class for devices.
Definition: cdlBase.h:47
int parity
parity bit
Definition: cdlCOM.h:57