usb_packet.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2009
* Eric Grele and Goutham Mallapragda.
*
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifndef _USB_PACKET_H_
#define _USB_PACKET_H_
#include "canio.h"
#include <libplayercommon/playercommon.h>
typedef struct usb_packet {
union {
unsigned char pkt_data[18];
struct {
unsigned char usb_message_header;
unsigned char usb_command_identifier;
unsigned char command_type;
unsigned char unused0;
unsigned char unused1;
unsigned char unused2;
unsigned short can_message_header;
unsigned char unused3;
unsigned char can_message[8];
unsigned char usb_message_checksum;
};
};
} usb_packet_t;
class USBpacket {
private:
unsigned short make_can_header( long id, unsigned int dlc, unsigned int flags );
unsigned char compute_checksum();
public:
typedef enum { CANA_DEV, USB_CMD_RESET } CommandType;
usb_packet_t pkt;
USBpacket();
USBpacket( const CanPacket &pkt );
operator CanPacket ();
bool check();
void print();
};
class USBIO {
private:
int fd;
bool synced;
public:
USBIO() { fd = -1; synced = false; }
int Init(const char *dev);
int ReadPacket(CanPacket *pkt);
int SyncRead( USBpacket &p );
int WritePacket(CanPacket &pkt);
int Shutdown();
};
#endif
USBpacket
Definition: usb_packet.h:47
CanPacket
Definition: canio.h:45
usb_packet
Definition: usb_packet.h:29
USBIO
Definition: usb_packet.h:70

Last updated 12 September 2005 21:38:45