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| 211 | dhylands | 1 | /**************************************************************************** |
| 2 | * |
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| 3 | * Copyright (c) 2009 Dave Hylands <dhylands@gmail.com> |
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| 4 | * |
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| 5 | * This program is free software; you can redistribute it and/or modify |
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| 6 | * it under the terms of the GNU General Public License version 2 as |
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| 7 | * published by the Free Software Foundation. |
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| 8 | * |
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| 9 | * Alternatively, this software may be distributed under the terms of BSD |
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| 10 | * license. |
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| 11 | * |
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| 12 | * See README and COPYING for more details. |
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| 13 | * |
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| 14 | ****************************************************************************/ |
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| 15 | /** |
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| 16 | * |
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| 17 | * @file SimBus.h |
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| 18 | * |
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| 19 | * @brief Implements a simulated bioloid bus which is useful for some |
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| 20 | * types of debugging. |
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| 21 | * |
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| 22 | * The simulated bus prints out all of the packets that would be |
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| 23 | * sent over the bus. |
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| 24 | * |
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| 25 | ****************************************************************************/ |
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| 26 | |||
| 27 | #if !defined( SIMBUS_H ) |
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| 28 | #define SIMBUS_H /**< Include Guard */ |
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| 29 | |||
| 30 | // ---- Include Files ------------------------------------------------------- |
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| 31 | |||
| 32 | #include "BioloidBus.h" |
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| 33 | #include "SimPacket.h" |
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| 34 | |||
| 35 | /** |
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| 36 | * @addtogroup bioloid |
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| 37 | * @{ |
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| 38 | */ |
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| 39 | |||
| 40 | class SimBus : public BioloidBus |
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| 41 | { |
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| 42 | public: |
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| 43 | //------------------------------------------------------------------------ |
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| 44 | // Default constructor |
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| 45 | |||
| 46 | SimBus(); |
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| 47 | |||
| 48 | //------------------------------------------------------------------------ |
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| 49 | // Destructor |
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| 50 | |||
| 51 | virtual ~SimBus(); |
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| 52 | |||
| 53 | //------------------------------------------------------------------------ |
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| 213 | dhylands | 54 | // Reads a byte. |
| 55 | |||
| 56 | virtual bool ReadByte( uint8_t *ch ); |
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| 57 | |||
| 58 | //------------------------------------------------------------------------ |
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| 211 | dhylands | 59 | // Sends a byte. This will automatically accumulate the byte into |
| 60 | // the checksum |
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| 61 | |||
| 62 | virtual void SendByte( uint8_t data ); |
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| 63 | |||
| 64 | private: |
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| 65 | |||
| 66 | SimPacket m_packet; |
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| 67 | |||
| 68 | }; |
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| 69 | |||
| 70 | /** @} */ |
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| 71 | |||
| 72 | #endif /* SIMBUS_H */ |
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| 73 |