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| Rev | Author | Line No. | Line |
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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 BioloidCommandLine.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( BIOLOIDCOMMANDLINE_H ) |
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| 28 | #define BIOLOIDCOMMANDLINE_H /**< Include Guard */ |
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| 29 | |||
| 30 | // ---- Include Files ------------------------------------------------------- |
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| 31 | |||
| 32 | #include "bioloid-reg.h" |
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| 33 | #include "BioloidBus.h" |
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| 34 | #include "BioloidDevice.h" |
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| 35 | #include "StrToken.h" |
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| 36 | |||
| 37 | class BioloidCommandLine |
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| 38 | { |
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| 39 | public: |
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| 40 | |||
| 41 | //------------------------------------------------------------------------ |
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| 42 | // Default constructor |
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| 43 | |||
| 44 | BioloidCommandLine(); |
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| 45 | |||
| 46 | //------------------------------------------------------------------------ |
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| 47 | // Destructor |
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| 48 | |||
| 49 | ~BioloidCommandLine(); |
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| 50 | |||
| 51 | //------------------------------------------------------------------------ |
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| 52 | // Processes one line of data |
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| 53 | |||
| 54 | bool ProcessLine( char *line ); |
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| 55 | |||
| 56 | //------------------------------------------------------------------------ |
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| 57 | // Registers a device type which has registers |
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| 58 | |||
| 59 | void RegisterDevices( BLD_DevType_t *devType ); |
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| 60 | |||
| 61 | //------------------------------------------------------------------------ |
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| 62 | // Sets the bus used to send commands. |
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| 63 | |||
| 64 | void SetBus( BioloidBus *bus ) |
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| 65 | { |
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| 66 | m_bus = bus; |
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| 67 | } |
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| 68 | |||
| 69 | private: |
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| 70 | |||
| 71 | //------------------------------------------------------------------------ |
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| 213 | dhylands | 72 | // Adds an error string to the output string, if err contains the mask. |
| 73 | |||
| 74 | void AddErrorStr( Bioloid::Error err, Bioloid::Error mask, char *str, size_t maxLen, const char *errStr ); |
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| 75 | |||
| 76 | //------------------------------------------------------------------------ |
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| 211 | dhylands | 77 | // Prints out register information |
| 78 | |||
| 79 | void DumpRegInfo( BLD_DevType_t *devType ); |
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| 80 | |||
| 81 | //------------------------------------------------------------------------ |
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| 82 | // Parses an offset and some data |
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| 83 | |||
| 84 | bool ParseOffsetAndData( StrTokenizer &line, uint8_t *offset, uint8_t *numBytes, uint8_t *data, size_t maxLen ); |
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| 85 | |||
| 86 | //------------------------------------------------------------------------ |
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| 87 | // Parses a register name |
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| 88 | |||
| 89 | bool ParseRegisterName( StrTokenizer &line, BLD_DevType_t *devType, BLD_Reg_t **outReg ); |
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| 90 | |||
| 213 | dhylands | 91 | //------------------------------------------------------------------------ |
| 92 | // Prints the error code and prints the results. |
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| 93 | |||
| 94 | void PrintError( Bioloid::Error err ); |
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| 95 | |||
| 96 | |||
| 211 | dhylands | 97 | BioloidBus *m_bus; |
| 98 | BioloidDevice m_device; |
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| 99 | }; |
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| 100 | |||
| 101 | #endif // BIOLOIDCOMMANDLINE_H |