KatanaNativeInterface $VERSION$
cplBase.h
Go to the documentation of this file.
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 _CPLBASE_H_
24#define _CPLBASE_H_
25/****************************************************************************/
26#include "common/dllexport.h"
27#include "KNI/cdlBase.h"
28
29/****************************************************************************/
30
31#if !defined (BYTE_DECLARED)
32#define BYTE_DECLARED
33typedef unsigned char byte;
34#endif
35
36//--------------------------------------------------------------------------//
37
38
48
49protected:
53
54public:
55
61 virtual bool init(CCdlBase* _device, byte _kataddr = 24) = 0;
62
69 virtual void comm(const byte* pack, byte* buf, byte* size) = 0;
70
75 virtual ~CCplBase() {};
76
81 virtual void getMasterFirmware(short* fw, short* rev) = 0;
82};
83
84/****************************************************************************/
85#endif //_CPLBASE_H_
86/****************************************************************************/
Abstract base class for devices.
Definition: cdlBase.h:47
Abstract base class for protocol definiton.
Definition: cplBase.h:47
short mMasterVersion
master version of robot we are communicating with
Definition: cplBase.h:51
virtual void getMasterFirmware(short *fw, short *rev)=0
Get the master firmware of the robot we are communicating with.
short mMasterRevision
master firmware revision
Definition: cplBase.h:52
virtual void comm(const byte *pack, byte *buf, byte *size)=0
Base communication function.
CCdlBase * device
communication device
Definition: cplBase.h:50
virtual ~CCplBase()
destructor
Definition: cplBase.h:75
virtual bool init(CCdlBase *_device, byte _kataddr=24)=0
Basic initializing function.
unsigned char byte
type specification (8 bit)
Definition: cplBase.h:33
#define DLLDIR
Definition: dllexport.h:30