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  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef SEGWAYRMP_RMPIO_H
00012 #define SEGWAYRMP_RMPIO_H
00013 
00014 namespace segwayrmpacfr
00015 {
00016 
00017 class CanPacket;
00018 
00019 //
00020 // @brief An abstract class for communicating with the RMP.
00021 //        Note: This thing _has_ to be able to handle simultaneous read/write
00022 //              from two different threads.
00023 //
00024 // @author Alex Brooks
00025 //
00026 class RmpIo
00027 {
00028 
00029 public: 
00030 
00031     enum RmpIoStatus
00032     {
00033         OK              = 0,
00034         NO_DATA         = 1,
00035     };
00036 
00037     virtual ~RmpIo() {}
00038 
00039     // Initiate comms with the RMP.
00040     virtual void enable( int debugLevel )=0;
00041 
00042     // Release all resources.
00043     virtual void disable()=0;
00044     
00045     // Returns OK if copied a packet, NO_DATA if not
00046     virtual RmpIoStatus readPacket( CanPacket &pkt )=0;    
00047     virtual void writePacket( const CanPacket &pkt )=0;
00048 
00049 private: 
00050 
00051 
00052 };
00053 
00054 }
00055 
00056 #endif
rmpio.h
