canio_kvaser.h
00001 /* 00002 * Player - One Hell of a Robot Server 00003 * Copyright (C) 2003 John Sweeney & Brian Gerkey 00004 * 00005 * This program is free software; you can redistribute it and/or modify 00006 * it under the terms of the GNU General Public License as published by 00007 * the Free Software Foundation; either version 2 of the License, or 00008 * (at your option) any later version. 00009 * 00010 * This program is distributed in the hope that it will be useful, 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00013 * GNU General Public License for more details. 00014 * 00015 * You should have received a copy of the GNU General Public License 00016 * along with this program; if not, write to the Free Software 00017 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00018 * 00019 */ 00020 00021 #ifndef _KVASER_CANLIB_ 00022 #define _KVASER_CANLIB_ 00023 00024 #include "canlib.h" 00025 #include "canio.h" 00026 00027 class CANIOKvaser : public DualCANIO 00028 { 00029 private: 00030 canHandle channels[2]; 00031 00032 public: 00033 CANIOKvaser(); 00034 virtual ~CANIOKvaser(); 00035 virtual int Init(long channel_freq); 00036 virtual int ReadPacket(CanPacket *pkt, int channel); 00037 virtual int WritePacket(CanPacket &pkt); 00038 virtual int Shutdown(); 00039 }; 00040 00041 #endif