usb_packet.h
1/*
2 * Player - One Hell of a Robot Server
3 * Copyright (C) 2009
4 * Eric Grele and Goutham Mallapragda.
5 *
6 *
7 * This program is free software; you can redistribute it and/or modify
8 * it under the terms of the GNU General Public License as published by
9 * the Free Software Foundation; either version 2 of the License, or
10 * (at your option) any later version.
11 *
12 * This program is distributed in the hope that it will be useful,
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 * GNU General Public License for more details.
16 *
17 * You should have received a copy of the GNU General Public License
18 * along with this program; if not, write to the Free Software
19 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20 *
21 */
22
23#ifndef _USB_PACKET_H_
24#define _USB_PACKET_H_
25
26#include "canio.h"
27#include <libplayercommon/playercommon.h>
28
29
30struct usb_struct {
31 unsigned char usb_message_header;
32 unsigned char usb_command_identifier;
33 unsigned char command_type;
34 unsigned char unused0;
35 unsigned char unused1;
36 unsigned char unused2;
37 unsigned short can_message_header;
38 unsigned char unused3;
39 unsigned char can_message[8];
40 unsigned char usb_message_checksum;
41};
42
43typedef union usb_packet {
44 unsigned char pkt_data[18];
45 struct usb_struct pkt;
47
48class USBpacket {
49
50private:
51 unsigned short make_can_header( long id, unsigned int dlc, unsigned int flags );
52 unsigned char compute_checksum();
53
54
55public:
56
57 typedef enum { CANA_DEV, USB_CMD_RESET } CommandType;
58
59 usb_packet_t pkt;
60
61 USBpacket();
62 USBpacket( const CanPacket &pkt );
63 operator CanPacket ();
64 bool check();
65
66 void print();
67
68};
69
70
71class USBIO {
72private:
73 int fd;
74 bool synced;
75public:
76 USBIO() { fd = -1; synced = false; }
77 int Init(const char *dev);
78 int ReadPacket(CanPacket *pkt);
79 int SyncRead( USBpacket &p );
80 int WritePacket(CanPacket &pkt);
81 int Shutdown();
82};
83
84#endif
Definition canio.h:46
Definition usb_packet.h:71
Definition usb_packet.h:48
Definition usb_packet.h:30
Definition usb_packet.h:43