KatanaNativeInterface  $VERSION$
cdlCOM.h
Go to the documentation of this file.
00001 /*
00002  *   Katana Native Interface - A C++ interface to the robot arm Katana.
00003  *   Copyright (C) 2005 Neuronics AG
00004  *   Check out the AUTHORS file for detailed contact information.
00005  *
00006  *   This program is free software; you can redistribute it and/or modify
00007  *   it under the terms of the GNU General Public License as published by
00008  *   the Free Software Foundation; either version 2 of the License, or
00009  *   (at your option) any later version.
00010  *
00011  *   This program is distributed in the hope that it will be useful,
00012  *   but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *   GNU General Public License for more details.
00015  *
00016  *   You should have received a copy of the GNU General Public License
00017  *   along with this program; if not, write to the Free Software
00018  *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  */
00020 
00021 
00022 
00023 #ifndef _CDLCOM_H_
00024 #define _CDLCOM_H_
00025 
00026 #include "common/dllexport.h"
00027 
00028 #include "KNI/cdlBase.h"
00029 #include "KNI/cdlCOMExceptions.h"
00030 
00031 #include <string>
00032 
00033 
00034 //-------------------------------------------------------//
00035 #ifdef WIN32
00036 //-------------------------------------------------------//
00037         #include <windows.h>
00038 //-------------------------------------------------------//
00039 #else //LINUX
00040 //-------------------------------------------------------//
00041         #include <termios.h>
00042         #include <fcntl.h>
00043         #include <cerrno>
00044 //-------------------------------------------------------//
00045 #endif //WIN32 else LINUX
00046 //-------------------------------------------------------//
00047 
00048 
00053 struct TCdlCOMDesc {
00054         int     port;   
00055         int     baud;   
00056         int     data;   
00057         int     parity; 
00058         int     stop;   
00059         int     rttc;   
00060         int     wttc;   
00061 };
00062 
00063 //--------------------------------------------------------------------------//
00064 
00065 
00073 class DLLDIR CCdlCOM : public CCdlBase {
00074 private:
00075         std::string _deviceName;
00076 
00077 protected:
00078 
00079         TCdlCOMDesc _ccd;       
00080 
00081 //-------------------------------------------------------//
00082 #ifdef WIN32
00083 //-------------------------------------------------------//
00084         HANDLE _prtHdl; 
00085         COMMTIMEOUTS _oto;      
00086 //-------------------------------------------------------//
00087 #else //LINUX
00088 //-------------------------------------------------------//
00089         int _prtHdl;    
00090         struct termios _oto;    
00091 //-------------------------------------------------------//
00092 #endif //WIN32 else LINUX
00093 //-------------------------------------------------------//
00094 
00095 protected:
00096 
00099         static char digit(const int _val) {
00100                 return (char)((int)'0' + _val);
00101         }
00102 
00103 public:
00110         CCdlCOM(TCdlCOMDesc ccd, const char *dev_name = 0);
00111         virtual ~CCdlCOM();
00114         virtual int  send(const void* buf, int size);
00117         virtual int  recv(void* buf, int size);
00120 };
00121 
00122 
00123 #endif //_CDLCOM_H_
00124