2022-07-20 11:11:38 +08:00
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#ifndef IOUDP_H
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#define IOUDP_H
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#include "interface/IOInterface.h"
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#include "/usr/include/x86_64-linux-gnu/bits/floatn-common.h"
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class IOUDP : public IOInterface{
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public:
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2022-09-13 19:53:15 +08:00
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IOUDP(CmdPanel *cmdPanel, const char* IP, bool hasGripper);
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2022-07-20 11:11:38 +08:00
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~IOUDP();
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bool sendRecv(const LowlevelCmd *cmd, LowlevelState *state);
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// void setGripper(int position, int force);
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// void getGripper(int &position, int &force);
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bool calibration();
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private:
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IOPort *_ioPort;
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UDPSendCmd _cmd;
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UDPRecvState _state;
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size_t _motorNum;
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size_t _jointNum;
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2022-09-13 19:53:15 +08:00
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uint8_t _singleState;
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uint8_t _selfCheck[10];
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2022-07-20 11:11:38 +08:00
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};
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#endif // IOUDP_H
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