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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 |