Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  * Copyright (c) 2004-2008 Duncan Mercer
00006  *
00007  * This copy of Orca is licensed to you under the terms described in
00008  * the LICENSE file included in this distribution.
00009  *
00010  */
00011  
00012 #ifndef ORCA_CAN_PEAK_RMP_IO_H
00013 #define ORCA_CAN_PEAK_RMP_IO_H
00014 
00015 #include <libpcan.h>
00016 #include "../canpacket.h"
00017 #include "../rmpio.h"
00018 #include <hydroutil/uncopyable.h>
00019 #include <gbxsickacfr/gbxiceutilacfr/timer.h>
00020 
00021 namespace segwayrmpacfr {
00022 
00023 //************************************************************
00024 // A class to handle the Segway control using the peak
00025 // CAN card....
00026 // **NOTE That all function in the list may throw exceptions of 
00027 // the type hydrointerfaces::SegwayRmp::Exception
00028 
00029 // 
00030 // Author Duncan Mercer
00031 //  
00032  
00033 class CanPeakRmpIo : public RmpIo, public hydroutil::Uncopyable
00034 {
00035     
00036 public:
00037     // There should only be one instance of this class
00038     CanPeakRmpIo( const std::string & portName );
00039     ~CanPeakRmpIo();
00040     
00041     // from RmpIo
00042     virtual void enable(int debugLevel);
00043     virtual void disable(void);
00044     virtual RmpIo::RmpIoStatus readPacket( CanPacket &pkt );
00045     virtual void writePacket( const CanPacket &pkt );
00046       
00047 private:
00048     HANDLE portHandle_;
00049     bool isEnabled_;
00050     int debugLevel_;
00051 
00052     // Private methods to swap between the data representation for the PCMCIA card and
00053     // that used by the rest of the segwayrmp driver code....
00054     void convertCanPacketToPeak(TPCANMsg *peakCanOut, const CanPacket *pktIn);
00055     void convertPeakToCanPacket(CanPacket *pktOut, const TPCANMsg *peakCanIn);
00056 
00057     // String representation of the peak can card error
00058     std::string peakStatusToString(DWORD status);
00059     gbxsickacfr::gbxiceutilacfr::Timer writeTimer_;
00060     
00061 }; // end of class declaration
00062 
00063 
00064 }  // end of namespace
00065 
00066 #endif
canpeakrmpio.h
