KatanaNativeInterface
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include
KNI
cplBase.h
Go to the documentation of this file.
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/*
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* Katana Native Interface - A C++ interface to the robot arm Katana.
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* Copyright (C) 2005 Neuronics AG
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* Check out the AUTHORS file for detailed contact information.
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/****************************************************************************/
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#ifndef _CPLBASE_H_
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#define _CPLBASE_H_
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/****************************************************************************/
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#include "
common/dllexport.h
"
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#include "
KNI/cdlBase.h
"
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/****************************************************************************/
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#if !defined (BYTE_DECLARED)
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#define BYTE_DECLARED
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typedef
unsigned
char
byte
;
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#endif
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//--------------------------------------------------------------------------//
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class
DLLDIR
CCplBase
{
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protected
:
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CCdlBase
*
device
;
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short
mMasterVersion
;
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short
mMasterRevision
;
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public
:
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virtual
bool
init(
CCdlBase
* _device,
byte
_kataddr = 24) = 0;
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virtual
void
comm(
const
byte
* pack,
byte
* buf,
byte
* size) = 0;
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virtual
~CCplBase
() {};
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virtual
void
getMasterFirmware(
short
* fw,
short
* rev) = 0;
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};
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/****************************************************************************/
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#endif //_CPLBASE_H_
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/****************************************************************************/
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