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 ORCA2_SEGWAY_USB_FTDI_RMP_IO_H
00012 #define ORCA2_SEGWAY_USB_FTDI_RMP_IO_H
00013 
00014 #include <queue>
00015 #include <ftd2xx.h>
00016 #include "../canpacket.h"
00017 #include "../rmpio.h"
00018 
00019 namespace usbftdi {
00020     class UsbFtdi;
00021 }
00022 
00023 namespace segwayrmpacfr
00024 {
00025 
00026 //
00027 //
00028 //
00029 class UsbFtdiRmpIo : public RmpIo
00030 {
00031 public:
00032 
00033     UsbFtdiRmpIo();
00034     ~UsbFtdiRmpIo();
00035 
00036     // from RmpIo
00037     virtual void enable(int debugLevel);
00038     virtual void disable(void);
00039     virtual RmpIo::RmpIoStatus readPacket( CanPacket &pkt );
00040     virtual void writePacket( const CanPacket &pkt );
00041     
00042 private:
00043 
00044     // STORAGE
00045     
00046     bool isEnabled_;
00047 
00048     // a char buffer to read USB stream into
00049     std::vector<unsigned char> charBuffer_;
00050     // have to remember how many char are left in the buffer
00051     unsigned int charBufferBytes_;
00052     // a buffer to store parsed CAN messages
00053     std::queue<CanPacket> canBuffer_;
00054 
00055     // HARDWDARE
00056     
00057     // handle to the USB device inside our Segway
00058     usbftdi::UsbFtdi *usbFtdi_;
00059     
00060     // Don't call this if the buffer's empty.
00061     void getPacketFromCanBuffer( CanPacket* pkt );
00062     
00063     RmpIo::RmpIoStatus readPacketNonBlocking( CanPacket* pkt );
00064     RmpIo::RmpIoStatus readPacketBlocking( CanPacket* pkt );
00065     // Not used but keep for reference
00066     //RmpUsbIoStatus readPacketPolling( CanPacket* pkt );
00067     
00068     RmpIo::RmpIoStatus readFromUsbToBufferNonBlocking();
00069     RmpIo::RmpIoStatus readFromUsbToBufferBlocking();
00070     void readFromBufferToQueue();
00071     
00072     int parseUsbToCan( CanPacket *pkt, const unsigned char *bytes );
00073     int parseCanToUsb( const CanPacket *pkt, unsigned char *bytes );
00074     
00075     unsigned char usbMessageChecksum( unsigned char *msg );    
00076 
00077     int debugLevel_;
00078 };
00079 
00080 } // namespace
00081 
00082 #endif
usbftdirmpio.h
