KatanaNativeInterface $VERSION$
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Implement the Serial-Zero protocol. More...
#include <cplSerial.h>
Public Member Functions | |
virtual bool | init (CCdlBase *_device, byte _kataddr=24) |
Initializing function. More... | |
virtual void | comm (const byte *pack, byte *buf, byte *size) |
Communication function. More... | |
virtual void | getMasterFirmware (short *fw, short *rev) |
Get the master firmware of the robot we are communicating with. More... | |
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virtual bool | init (CCdlBase *_device, byte _kataddr=24)=0 |
Basic initializing function. More... | |
virtual void | comm (const byte *pack, byte *buf, byte *size)=0 |
Base communication function. More... | |
virtual | ~CCplBase () |
destructor More... | |
virtual void | getMasterFirmware (short *fw, short *rev)=0 |
Get the master firmware of the robot we are communicating with. More... | |
Protected Member Functions | |
virtual bool | load_tbl () |
Loads the command table from the robot's firmware. More... | |
virtual void | defineProtocol (byte _kataddr) |
Defines the protocol's attributes. More... | |
virtual void | send (byte *send_buf, byte write_sz, short retries=3) |
virtual void | recv (byte *read_buf, byte read_sz, byte *size) |
virtual bool | load_tbl ()=0 |
Loads the command table from the robot's firmware. More... | |
virtual void | defineProtocol (byte _kataddr)=0 |
Defines the protocol's attributes. More... | |
Additional Inherited Members | |
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THeader | hdr |
header More... | |
TPacket | cmd [256] |
command table More... | |
byte | send_buf [256] |
sending buffer More... | |
byte | read_buf [256] |
receive buffer More... | |
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CCdlBase * | device |
communication device More... | |
short | mMasterVersion |
master version of robot we are communicating with More... | |
short | mMasterRevision |
master firmware revision More... | |
Implement the Serial-Zero protocol.
Initializing function
Init the protocols basic attributes. / virtual bool init(CCdlBase* _device, byte _kataddr = 24);
/*! Communication function
Sends a communications packet and receives one from the robot. ‍/
virtual TRetCOMM comm(const byte* _pack, byte* _buf, byte* _size); };
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/*! Implement the Serial-CRC protocol
Definition at line 137 of file cplSerial.h.
Communication function.
Sends a communications packet and receives one from the robot.
Implements CCplBase.
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protectedvirtual |
Defines the protocol's attributes.
Implements CCplSerial.
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virtual |
Get the master firmware of the robot we are communicating with.
Get master firmware read at initialization time.
Implements CCplBase.
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protectedvirtual |
Loads the command table from the robot's firmware.
Implements CCplSerial.
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protectedvirtual |