KatanaNativeInterface $VERSION$
Public Member Functions | Protected Member Functions | List of all members
CCplSerialCRC Class Reference

Implement the Serial-Zero protocol. More...

#include <cplSerial.h>

Inheritance diagram for CCplSerialCRC:
Inheritance graph
Collaboration diagram for CCplSerialCRC:
Collaboration graph

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...
 
- Public Member Functions inherited from CCplBase
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

- Protected Attributes inherited from CCplSerial
THeader hdr
 header More...
 
TPacket cmd [256]
 command table More...
 
byte send_buf [256]
 sending buffer More...
 
byte read_buf [256]
 receive buffer More...
 
- Protected Attributes inherited from CCplBase
CCdlBasedevice
 communication device More...
 
short mMasterVersion
 master version of robot we are communicating with More...
 
short mMasterRevision
 master firmware revision More...
 

Detailed Description

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.
      &zwj;/

virtual TRetCOMM comm(const byte* _pack, byte* _buf, byte* _size); };

-------------------------------------------------------------------------------------------------------------—//

/*! Implement the Serial-CRC protocol

Definition at line 137 of file cplSerial.h.

Member Function Documentation

◆ comm()

virtual void CCplSerialCRC::comm ( const byte pack,
byte buf,
byte size 
)
virtual

Communication function.

Sends a communications packet and receives one from the robot.

Implements CCplBase.

◆ defineProtocol()

virtual void CCplSerialCRC::defineProtocol ( byte  _kataddr)
protectedvirtual

Defines the protocol's attributes.

Implements CCplSerial.

◆ getMasterFirmware()

virtual void CCplSerialCRC::getMasterFirmware ( short *  fw,
short *  rev 
)
virtual

Get the master firmware of the robot we are communicating with.

Get master firmware read at initialization time.

Implements CCplBase.

◆ init()

virtual bool CCplSerialCRC::init ( CCdlBase _device,
byte  _kataddr = 24 
)
virtual

Initializing function.

Init the protocols basic attributes.

Implements CCplBase.

◆ load_tbl()

virtual bool CCplSerialCRC::load_tbl ( )
protectedvirtual

Loads the command table from the robot's firmware.

Implements CCplSerial.

◆ recv()

virtual void CCplSerialCRC::recv ( byte read_buf,
byte  read_sz,
byte size 
)
protectedvirtual

◆ send()

virtual void CCplSerialCRC::send ( byte send_buf,
byte  write_sz,
short  retries = 3 
)
protectedvirtual

The documentation for this class was generated from the following file: