26 lines
611 B
C++
26 lines
611 B
C++
#ifndef IOUDP_H
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#define IOUDP_H
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#include "interface/IOInterface.h"
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class IOUDP : public IOInterface{
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public:
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IOUDP(const char* IP, uint port, size_t timeOutUs = 100000, bool showInfo = true);
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~IOUDP();
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bool sendRecv(const LowlevelCmd *cmd, LowlevelState *state);
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bool calibration();
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bool isDisconnect(){ return _ioPort->isDisConnect;}
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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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UDPRecvStateOld _stateOld;
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size_t _motorNum;
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size_t _jointNum;
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uint8_t _singleState;
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uint8_t _selfCheck[10];
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};
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#endif // IOUDP_H
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