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Added SDK, BDK and HDK.
This commit is contained in:
280
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/iFile.h
Executable file
280
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/iFile.h
Executable file
@@ -0,0 +1,280 @@
|
||||
/*!
|
||||
\file iFile.h
|
||||
\brief Interface for a file on a LEGO MINDSTORMS NXT.
|
||||
*/
|
||||
/*
|
||||
<20> Copyright 2005-2006,
|
||||
National Instruments Corporation.
|
||||
All rights reserved.
|
||||
|
||||
File: iFile.h
|
||||
Originated: 12 May 2005
|
||||
*/
|
||||
|
||||
#ifndef ___fantom_iFile_h___
|
||||
#define ___fantom_iFile_h___
|
||||
|
||||
// includes...
|
||||
|
||||
#ifndef ___fantom_platform_h___
|
||||
#include "platform.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_tStatus_h___
|
||||
#include "tStatus.h"
|
||||
#endif
|
||||
|
||||
|
||||
// defines...
|
||||
|
||||
|
||||
namespace nFANTOM100
|
||||
{
|
||||
// forward declarations...
|
||||
|
||||
// typedefs...
|
||||
|
||||
// classes...
|
||||
|
||||
/*!
|
||||
\class iFile
|
||||
\brief Interface to a file on a LEGO MINDSTORMS NXT.
|
||||
*/
|
||||
class iFile
|
||||
{
|
||||
friend class tNXT;
|
||||
|
||||
// methods
|
||||
protected:
|
||||
|
||||
//! Destructor
|
||||
virtual ~iFile() = 0;
|
||||
|
||||
public:
|
||||
|
||||
//! Retrieves the name of this file.
|
||||
/*!
|
||||
\param fileName Populated with the name of this file. The file name character array
|
||||
must be able to accomodate a NULL-terminated, 15.3 formatted module name. That
|
||||
is, it must have a capacity of 20 bytes.
|
||||
*/
|
||||
virtual void getName( ViChar fileName[] ) const = 0;
|
||||
|
||||
//! Retrieves the total size of this file in bytes.
|
||||
/*!
|
||||
The returned size is undefined if the specified status is fatal.
|
||||
|
||||
\param status Status chaining object.
|
||||
\return The total size of this file in bytes.
|
||||
*/
|
||||
virtual ViUInt32 getSize( tStatus& status ) = 0;
|
||||
|
||||
//! Retrieves the remaining available size, in bytes, in this file.
|
||||
/*!
|
||||
This number is only helpful for data logging files, which can contain variable
|
||||
amounts of data.
|
||||
The returned size is undefined if the specified status is fatal.
|
||||
|
||||
\param status Status chaining object.
|
||||
\return The remaining available size, in bytes, in this file.
|
||||
*/
|
||||
virtual ViUInt32 getAvailableSize( tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Opens this file for reading.
|
||||
/*!
|
||||
Opens, for reading, the file that corresponds to this object on the associated NXT.
|
||||
The file is not opened if the specified status is fatal.
|
||||
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void openForRead( tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Open this file for writing.
|
||||
/*!
|
||||
Opens, for writing, the file that corresponds to this object on the associated NXT.
|
||||
If this file doesn't exist on the NXT, it is created. If this file does exist on
|
||||
the NXT, an error is generated.
|
||||
The file is not opened if the specified status is fatal.
|
||||
|
||||
\param sizeInBytes Size of the data, in bytes, that will be written to this file.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void openForWrite( ViUInt32 sizeInBytes, tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Open this file for linear (contiguous) writing.
|
||||
/*!
|
||||
Opens, for linear (contiguous) writing, the file that corresponds to this object on
|
||||
the associated NXT. If this file doesn't exist on the NXT, it is created. If this
|
||||
file does exist on the NXT, an error is generated.
|
||||
The file is not opened if the specified status is fatal.
|
||||
|
||||
\param sizeInBytes Size of the data, in bytes, that will be written to the file.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void openForLinearWrite( ViUInt32 sizeInBytes, tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Open this data file for writing.
|
||||
/*!
|
||||
Opens, for writing, the data file that corresponds to this object on the associated
|
||||
NXT. This data file differs from normal files in that a data file can be closed
|
||||
before the entire file has been written. If this file doesn't exist on the NXT,
|
||||
it is created. If this file does exist on the NXT, an error is generated.
|
||||
The file is not opened if the specified status is fatal.
|
||||
|
||||
\param sizeInBytes Size of the data, in bytes, that may be written to the file.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void openForDataWrite( ViUInt32 sizeInBytes, tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Open this data file for appending additional data.
|
||||
/*!
|
||||
Opens, for appending additional data, the data file that corresponds to this object
|
||||
on the associated NXT. If this file doesn't exist on the NXT, the behavior is
|
||||
undefined. If this file does exist on the NXT, the data that is written is
|
||||
appended to the end of the exiting data.
|
||||
The file is not opened if the specified status is fatal.
|
||||
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void openForDataAppend( tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Closes this file.
|
||||
/*!
|
||||
Closes the file that corresponds to this object on the associated NXT.
|
||||
The file is not closed if the specified status is fatal.
|
||||
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void close( tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Reads from this file
|
||||
/*!
|
||||
Reads the specified number of bytes from this file into the specified buffer. No data
|
||||
is read if the specified status is fatal. The ownership of the buffer is not
|
||||
transferred to this file object.
|
||||
|
||||
\param bufferPtr A pointer to the buffer that will be populated with the data that is
|
||||
read. The capacity of the specified buffer must be at least the specified number
|
||||
of bytes.
|
||||
\param numberOfBytes Number of bytes to read.
|
||||
\param status Status chaining object.
|
||||
\return The number of bytes actually read from this file.
|
||||
|
||||
\pre This file must have been opened for reading with the iFile::openForRead method.
|
||||
\post The specified buffer may be deallocated.
|
||||
*/
|
||||
virtual ViUInt32 read( ViPBuf bufferPtr, ViUInt32 numberOfBytes, tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Writes to this file
|
||||
/*!
|
||||
Writes the specified number of bytes from the specified buffer to this file. No data
|
||||
is written if the specified status is fatal. The ownership of the buffer is not
|
||||
transferred to this file object.
|
||||
|
||||
\param bufferPtr A pointer to the buffer that contains the data that will be written.
|
||||
The capacity of the specified buffer must be at least the specified number of
|
||||
bytes.
|
||||
\param numberOfBytes Number of bytes to write to this file.
|
||||
\param status Status chaining object.
|
||||
\return The number of bytes actually written to this file.
|
||||
|
||||
\pre This file must have previously been opened for writing.
|
||||
\post The specified buffer may be deallocated.
|
||||
*/
|
||||
virtual ViUInt32 write( const ViByte bufferPtr[], ViUInt32 numberOfBytes,
|
||||
tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Removes this file
|
||||
/*!
|
||||
Removes the file that corresponds to this object on the associated NXT.
|
||||
The file is not removed if the specified status is fatal.
|
||||
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void remove( tStatus& status ) = 0;
|
||||
|
||||
};
|
||||
|
||||
|
||||
// constants...
|
||||
const ViUInt8 kProtocolFilenameLength = 19; // 15 basename + 1 dot + 3 extension = 19
|
||||
|
||||
} // namespace nFANTOM100
|
||||
|
||||
|
||||
// declarations for globally-scoped globals...
|
||||
|
||||
// typedefs...
|
||||
typedef ViObject nFANTOM100_iFile;
|
||||
|
||||
// prototypes...
|
||||
extern "C"
|
||||
{
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_getName(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViChar fileName[],
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iFile_getSize(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iFile_getAvailableSize(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_openForRead(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_openForWrite(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViUInt32 sizeInBytes,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_openForLinearWrite(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViUInt32 sizeInBytes,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_openForDataWrite(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViUInt32 sizeInBytes,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_openForDataAppend(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_close(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_read(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViPBuf bufferPtr,
|
||||
ViUInt32 numberOfBytes,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_write(
|
||||
nFANTOM100_iFile filePtr,
|
||||
const ViByte bufferPtr[],
|
||||
ViUInt32 numberOfBytes,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_remove(
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViStatus* status );
|
||||
|
||||
}
|
||||
|
||||
#endif // ___fantom_iFile_h___
|
||||
@@ -0,0 +1,133 @@
|
||||
/*!
|
||||
\file iFileIterator.h
|
||||
\brief Interface for an iterator for files on a LEGO MINDSTORMS NXT.
|
||||
*/
|
||||
/*
|
||||
<20> Copyright 2005-2006,
|
||||
National Instruments Corporation.
|
||||
All rights reserved.
|
||||
|
||||
File: iFileIterator.h
|
||||
Originated: 12 May 2005
|
||||
*/
|
||||
|
||||
#ifndef ___fantom_iFileIterator_h___
|
||||
#define ___fantom_iFileIterator_h___
|
||||
|
||||
|
||||
// includes...
|
||||
|
||||
#ifndef ___fantom_platform_h___
|
||||
#include "platform.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_iFile_h___
|
||||
#include "iFile.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_tStatus_h___
|
||||
#include "tStatus.h"
|
||||
#endif
|
||||
|
||||
|
||||
// defines...
|
||||
|
||||
|
||||
namespace nFANTOM100
|
||||
{
|
||||
// forward declarations...
|
||||
|
||||
// typedefs...
|
||||
|
||||
// classes...
|
||||
|
||||
/*!
|
||||
\class iFileIterator
|
||||
\brief Interface to an iterator for files on a LEGO MINDSTORMS NXT.
|
||||
*/
|
||||
class iFileIterator
|
||||
{
|
||||
friend class tNXT;
|
||||
|
||||
// methods
|
||||
protected:
|
||||
|
||||
//! Destructor
|
||||
virtual ~iFileIterator() = 0;
|
||||
|
||||
public:
|
||||
|
||||
//! Creates a file object for the file referenced by this iterator.
|
||||
/*!
|
||||
Creates file object for the file referenced by this iterator. An object is not
|
||||
created if the specified status is fatal or if this iterator refers to the end of
|
||||
the list. The returned file object should be destroyed using the
|
||||
iNXT::destroyFile method.
|
||||
|
||||
\param status Status chaining object.
|
||||
\return A pointer to the iFile object that was created.
|
||||
*/
|
||||
virtual iFile* getFile( tStatus& status ) = 0;
|
||||
|
||||
//! Advances this iterator.
|
||||
/*!
|
||||
Advances this iterator to the next file that matches the previously specified file
|
||||
name pattern. If no more files match, this iterator is advanced to the end of the
|
||||
list.
|
||||
The iterator is not advanced if the specified status is fatal.
|
||||
If this iterator is already at the end of the list, a fatal status will be generated.
|
||||
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void advance( tStatus& status ) = 0;
|
||||
|
||||
//! Retrieves the name of the file to which this iterator refers.
|
||||
/*!
|
||||
\param fileName Populated with the name of the file to which this iterator refers.
|
||||
The file name character array must be able to accomodate a NULL-terminated, 15.3
|
||||
formatted file name. This is, it must have a capacity of 20 bytes.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void getName( ViChar fileName[], tStatus& status ) = 0;
|
||||
|
||||
//! Retrieves the total size, in bytes, of the file to which this iterator refers.
|
||||
/*!
|
||||
\param status Status chaining object.
|
||||
\return The total size of the file in bytes.
|
||||
*/
|
||||
virtual ViUInt32 getSize( tStatus& status ) = 0;
|
||||
|
||||
};
|
||||
|
||||
|
||||
// constants...
|
||||
|
||||
} // namespace nFANTOM100
|
||||
|
||||
|
||||
// declarations for globally-scoped globals...
|
||||
|
||||
// typedefs
|
||||
typedef ViObject nFANTOM100_iFileIterator;
|
||||
|
||||
extern "C"
|
||||
{
|
||||
nFANTOM100_kExport nFANTOM100_iFile _VI_FUNCC nFANTOM100_iFileIterator_getFile(
|
||||
nFANTOM100_iFileIterator iteratorPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFileIterator_advance(
|
||||
nFANTOM100_iFileIterator iteratorPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFileIterator_getName(
|
||||
nFANTOM100_iFileIterator iteratorPtr,
|
||||
ViChar filename[],
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iFileIterator_getSize(
|
||||
nFANTOM100_iFileIterator iteratorPtr,
|
||||
ViStatus* status );
|
||||
}
|
||||
|
||||
#endif // ___fantom_iFileIterator_h___
|
||||
154
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/iModule.h
Executable file
154
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/iModule.h
Executable file
@@ -0,0 +1,154 @@
|
||||
/*!
|
||||
\file iModule.h
|
||||
\brief Interface for a firmware module on a LEGO MINDSTORMS NXT.
|
||||
*/
|
||||
/*
|
||||
<20> Copyright 2005-2006,
|
||||
National Instruments Corporation.
|
||||
All rights reserved.
|
||||
|
||||
File: iModule.h
|
||||
Originated: 8 Aug 2005
|
||||
*/
|
||||
|
||||
#ifndef ___fantom_iModule_h___
|
||||
#define ___fantom_iModule_h___
|
||||
|
||||
#ifndef ___fantom_platform_h___
|
||||
#include "platform.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_tStatus_h___
|
||||
#include "tStatus.h"
|
||||
#endif
|
||||
|
||||
|
||||
// defines...
|
||||
|
||||
|
||||
namespace nFANTOM100
|
||||
{
|
||||
|
||||
/*!
|
||||
\class iModule
|
||||
\brief Interface to a firmware module on a LEGO MINDSTORMS NXT.
|
||||
*/
|
||||
class iModule
|
||||
{
|
||||
friend class tNXT;
|
||||
|
||||
// methods
|
||||
protected:
|
||||
|
||||
//! Destructor
|
||||
virtual ~iModule() = 0;
|
||||
|
||||
public:
|
||||
|
||||
//! Retrieves the name of this module.
|
||||
/*!
|
||||
\param moduleName Populated with the name of this module. The module name character
|
||||
array must be able to accomodate a NULL-terminated, 15.3 formatted module name.
|
||||
That is, it must have a capacity of 20 bytes.
|
||||
*/
|
||||
virtual void getName( ViChar moduleName[] ) const = 0;
|
||||
|
||||
//! Retrieves the internal module ID of this module.
|
||||
/*!
|
||||
\return The internal module ID of this module.
|
||||
*/
|
||||
virtual ViUInt32 getModuleID( void ) const = 0;
|
||||
|
||||
//! Retrieves the size in bytes of this module.
|
||||
/*!
|
||||
\return The size in bytes of this module.
|
||||
*/
|
||||
virtual ViUInt32 getModuleSize( void ) const = 0;
|
||||
|
||||
//! Retrieves the size in bytes of the I/O map associated with this module.
|
||||
/*!
|
||||
\return The size in bytes of the I/O map associated with this module.
|
||||
*/
|
||||
virtual ViUInt32 getModuleIOMapSize( void ) const = 0;
|
||||
|
||||
//! Reads a portion of this module's I/O map.
|
||||
/*!
|
||||
Reads the data located at [I/O map address] + [specified offset in bytes] into the
|
||||
specified data buffer. The read will attempt to copy the specified number of
|
||||
bytes. No read occurs if the specified status is fatal. The ownership of data
|
||||
buffer is not transferred to this module object.
|
||||
|
||||
\param offsetInBytes The index of the byte in the I/O map at which to start the read.
|
||||
\param numberOfBytes The number of bytes that should be read from the I/O map.
|
||||
\param dataBufferPtr A pointer to the data buffer that will be populated with the
|
||||
data that is read. The capacity of the specified data buffer must be at least the
|
||||
specified number of bytes.
|
||||
\param status Status chaining object.
|
||||
\return The number of bytes actually read from the I/O map.
|
||||
|
||||
\post The specified data buffer may be deallocated.
|
||||
*/
|
||||
virtual ViUInt32 readIOMap( ViUInt32 offsetInBytes, ViUInt32 numberOfBytes,
|
||||
ViPBuf dataBufferPtr, tStatus& status ) = 0;
|
||||
|
||||
//! Writes a portion of this module's I/O map.
|
||||
/*!
|
||||
Writes the specified data into this module's I/O map. The write starts at [I/O map
|
||||
address] + [specified offset in bytes] and stops after the specified number of
|
||||
bytes have been written. No write occurs if the specified status is fatal. The
|
||||
ownership of data buffer is not transferred to this module object.
|
||||
|
||||
\param offsetInBytes The index of the byte in the I/O map at which to start the write.
|
||||
\param numberOfBytes The number of bytes to write into the I/O map.
|
||||
\param dataBufferPtr A pointer to the data buffer that contains the data that will be
|
||||
written. The capacity of the specified data buffer must be at least the specified
|
||||
number of bytes.
|
||||
\param status Status chaining object.
|
||||
\return The number of bytes actually written into the I/O map.
|
||||
|
||||
\post The specified data buffer may be deallocated.
|
||||
*/
|
||||
virtual ViUInt32 writeIOMap( ViUInt32 offsetInBytes, ViUInt32 numberOfBytes,
|
||||
const ViByte dataBufferPtr[], tStatus& status ) = 0;
|
||||
|
||||
};
|
||||
|
||||
}; // nFANTOM100
|
||||
|
||||
typedef ViObject nFANTOM100_iModule;
|
||||
|
||||
extern "C"
|
||||
{
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iModule_getName(
|
||||
nFANTOM100_iModule modulePtr,
|
||||
ViChar moduleName[],
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iModule_getModuleID(
|
||||
nFANTOM100_iModule modulePtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iModule_getModuleSize(
|
||||
nFANTOM100_iModule modulePtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iModule_getIOMapSize(
|
||||
nFANTOM100_iModule modulePtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iModule_readIOMap(
|
||||
nFANTOM100_iModule modulePtr,
|
||||
ViUInt32 offset,
|
||||
ViUInt32 numberBytesToRead,
|
||||
ViPBuf dataBuffer,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iModule_writeIOMap(
|
||||
nFANTOM100_iModule modulePtr,
|
||||
ViUInt32 offset,
|
||||
ViUInt32 numberBytesToWrite,
|
||||
const ViByte dataBuffer[],
|
||||
ViStatus* status );
|
||||
}
|
||||
|
||||
#endif // ___fantom_iModule_h___
|
||||
@@ -0,0 +1,123 @@
|
||||
/*!
|
||||
\file iModuleIterator.h
|
||||
\brief Interface for an iterator for firmware modules on a LEGO MINDSTORMS NXT.
|
||||
*/
|
||||
/*
|
||||
<20> Copyright 2005-2006,
|
||||
National Instruments Corporation.
|
||||
All rights reserved.
|
||||
|
||||
File: iModuleIterator.h
|
||||
Originated: 8 Aug 2005
|
||||
*/
|
||||
|
||||
#ifndef ___fantom_iModuleIterator_h___
|
||||
#define ___fantom_iModuleIterator_h___
|
||||
|
||||
|
||||
// includes...
|
||||
|
||||
#ifndef ___fantom_platform_h___
|
||||
#include "platform.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_iModule_h___
|
||||
#include "iModule.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_tStatus_h___
|
||||
#include "tStatus.h"
|
||||
#endif
|
||||
|
||||
|
||||
// defines...
|
||||
|
||||
|
||||
namespace nFANTOM100
|
||||
{
|
||||
// forward declarations...
|
||||
|
||||
// typedefs...
|
||||
|
||||
// classes...
|
||||
|
||||
/*!
|
||||
\class iModuleIterator
|
||||
\brief Interface to an iterator for firmware modules on a LEGO MINDSTORMS NXT.
|
||||
*/
|
||||
class iModuleIterator
|
||||
{
|
||||
friend class tNXT;
|
||||
|
||||
// methods
|
||||
protected:
|
||||
|
||||
//! Destructor
|
||||
virtual ~iModuleIterator() = 0;
|
||||
|
||||
public:
|
||||
|
||||
//! Creates a module object for the module referenced by this iterator.
|
||||
/*!
|
||||
Creates a module object for the module referenced by this iterator. An object is not
|
||||
created if the specified status is fatal or if this iterator refers to the end of
|
||||
the list. The returned module object should be destroyed using the
|
||||
iNXT::destroyModule method.
|
||||
|
||||
\param status Status chaining object.
|
||||
\return A pointer to the iModule object that was created.
|
||||
*/
|
||||
virtual iModule* getModule( tStatus& status ) = 0;
|
||||
|
||||
//! Advances this iterator.
|
||||
/*!
|
||||
Advances this iterator to the next module that matches the previously specified
|
||||
module name pattern. If no more modules match, this iterator is advanced to the
|
||||
end of the list.
|
||||
The iterator is not advanced if the specified status is fatal.
|
||||
If this iterator is already at the end of the list, a fatal status will be generated.
|
||||
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void advance( tStatus& status ) = 0;
|
||||
|
||||
//! Retrieves the name of the module to which this iterator refers.
|
||||
/*!
|
||||
\param moduleName Populated with the name of the module to which this iterator
|
||||
refers. The module name character array must be able to accomodate a
|
||||
NULL-terminated, 15.3 formatted module name. This is, it must have a capacity of
|
||||
20 bytes.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void getName( ViChar moduleName[], tStatus& status ) = 0;
|
||||
|
||||
};
|
||||
|
||||
|
||||
// constants...
|
||||
|
||||
} // namespace nFANTOM100
|
||||
|
||||
|
||||
// declarations for globally-scoped globals...
|
||||
|
||||
// typedefs
|
||||
typedef ViObject nFANTOM100_iModuleIterator;
|
||||
|
||||
extern "C"
|
||||
{
|
||||
nFANTOM100_kExport nFANTOM100_iModule _VI_FUNCC nFANTOM100_iModuleIterator_getModule(
|
||||
nFANTOM100_iModuleIterator iteratorPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iModuleIterator_advance(
|
||||
nFANTOM100_iModuleIterator iteratorPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iModuleIterator_getName(
|
||||
nFANTOM100_iModuleIterator iteratorPtr,
|
||||
ViChar moduleName[],
|
||||
ViStatus* status );
|
||||
}
|
||||
|
||||
#endif // ___fantom_iModuleIterator_h___
|
||||
666
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/iNXT.h
Executable file
666
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/iNXT.h
Executable file
@@ -0,0 +1,666 @@
|
||||
/*!
|
||||
\file iNXT.h
|
||||
\brief Interface for a LEGO MINDSTORMS NXT and declaration of its factory.
|
||||
*/
|
||||
/*
|
||||
<20> Copyright 2005-2006,
|
||||
National Instruments Corporation.
|
||||
All rights reserved.
|
||||
|
||||
File: iNXT.h
|
||||
Originated: 12 May 2005
|
||||
*/
|
||||
|
||||
#ifndef ___fantom_iNXT_h___
|
||||
#define ___fantom_iNXT_h___
|
||||
|
||||
|
||||
// includes...
|
||||
|
||||
#ifndef ___fantom_platform_h___
|
||||
#include "platform.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_iFile_h___
|
||||
#include "iFile.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_iFileIterator_h___
|
||||
#include "iFileIterator.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_iModule_h___
|
||||
#include "iModule.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_iModuleIterator_h___
|
||||
#include "iModuleIterator.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_iNXTIterator_h___
|
||||
#include "iNXTIterator.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_tStatus_h___
|
||||
#include "tStatus.h"
|
||||
#endif
|
||||
|
||||
// defines...
|
||||
|
||||
|
||||
namespace nFANTOM100
|
||||
{
|
||||
// forward declarations...
|
||||
|
||||
// typedefs...
|
||||
|
||||
// classes...
|
||||
|
||||
/*!
|
||||
\class iNXT
|
||||
\brief Interface to a LEGO MINDSTORMS NXT.
|
||||
*/
|
||||
class iNXT
|
||||
{
|
||||
// methods
|
||||
protected:
|
||||
|
||||
//! Destructor
|
||||
virtual ~iNXT() = 0;
|
||||
|
||||
public:
|
||||
|
||||
//! Enumeration of buffer types on the NXT
|
||||
enum tBuffer
|
||||
{
|
||||
// The buffer associated with the standard port.
|
||||
kBufferStandard,
|
||||
|
||||
// The buffer associated with the high-speed port.
|
||||
kBufferHighSpeed
|
||||
};
|
||||
|
||||
//! Creates a file object for the file with the specified name on this NXT.
|
||||
/*!
|
||||
Invoking this method does not actually create a file on the NXT. Rather, this method
|
||||
creates a file object which may be used to open a file on this NXT, for reading or
|
||||
writing, or may be used to delete a file on the NXT.
|
||||
A file is not created if the specified status is fatal.
|
||||
The returned file object should be destroyed using the iNXT::destroyFile method.
|
||||
|
||||
\param fileName Name of the file. The file name must conform to the 15.3 naming
|
||||
convention and be NULL-terminated.
|
||||
\param status Status chaining object.
|
||||
\return A pointer to the iFile object that was created.
|
||||
*/
|
||||
virtual iFile* createFile( ViConstString fileName, tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Destroys the specified file object.
|
||||
/*!
|
||||
Invoking this method does not actually delete a file on the NXT. Rather, this method
|
||||
destroys a file object which may have been used to open a file on this NXT for
|
||||
reading or writing, or may have been used to delete a file on the NXT.
|
||||
|
||||
\param filePtr Pointer to the file object to destroy.
|
||||
*/
|
||||
virtual void destroyFile( iFile* filePtr ) = 0;
|
||||
|
||||
|
||||
//! Creates an iterator to the files on this NXT.
|
||||
/*!
|
||||
The iterator traverses those files on this NXT that match the specified file name
|
||||
pattern.
|
||||
The iterator is not created if the specified status is fatal.
|
||||
The returned file iterator object should be destroyed using the
|
||||
iNXT::destroyFileIterator method.
|
||||
|
||||
\param fileNamePattern The file name pattern against which to match when iterating
|
||||
over the files on this NXT. The file name pattern may contain wildcards. The
|
||||
wildcards may be used in the following manner: *.* (all files on this NXT);
|
||||
fileBaseName.* (all files on this NXT with the specified base name regardless of
|
||||
extension); *.fileExtension (all files on this NXT with the specified extension,
|
||||
regardless of basename); fileBaseName.fileExtension (the file on this NXT with the
|
||||
specified base name and extension).
|
||||
\param status Status chaining object.
|
||||
\return A pointer to the iFileIterator object that was created.
|
||||
*/
|
||||
virtual iFileIterator* createFileIterator( ViConstString fileNamePattern,
|
||||
tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Destroys the specified file iterator.
|
||||
/*!
|
||||
\param fileIteratorPtr A pointer to the file iterator to destroy.
|
||||
*/
|
||||
virtual void destroyFileIterator( iFileIterator* fileIteratorPtr ) = 0;
|
||||
|
||||
//! Creates a module object for the module with the specified name on this NXT.
|
||||
/*!
|
||||
Invoking this method does not actually create a module on the NXT. Rather, this
|
||||
method creates a module object which may be used to access an I/O map on this NXT.
|
||||
A module is not created if the specified status is fatal.
|
||||
The returned module object should be destroyed using the iNXT::destroyModule method.
|
||||
|
||||
\param moduleName The name of the module. The module name must conform to the 15.3
|
||||
naming convention and be NULL-terminated.
|
||||
\param moduleID The NXT-internal ID of the module.
|
||||
\param moduleSizeInBytes The number of bytes the module occupies.
|
||||
\param ioMapSizeInBytes The number of bytes the module's I/O map occupies.
|
||||
\param status Status chaining object.
|
||||
\return A pointer to the iModule object that was created.
|
||||
*/
|
||||
virtual iModule* createModule( ViConstString moduleName, ViUInt32 moduleID,
|
||||
ViUInt32 moduleSizeInBytes, ViUInt32 ioMapSizeInBytes, tStatus& status ) = 0;
|
||||
|
||||
//! Destroys the specified module object.
|
||||
/*!
|
||||
Invoking this method does not actually delete a module on this NXT. Rather, this
|
||||
method destroys a module object which may have been used to access an I/O map on
|
||||
this NXT.
|
||||
|
||||
\param modulePtr Pointer to the module object to destroy.
|
||||
*/
|
||||
virtual void destroyModule( iModule* modulePtr ) = 0;
|
||||
|
||||
|
||||
//! Creates an iterator to the modules on this NXT.
|
||||
/*!
|
||||
The iterator traverses those modules on this NXT that match the specified module name
|
||||
pattern.
|
||||
The iterator is not created if the specified status is fatal.
|
||||
The returned module iterator object should be destroyed using the
|
||||
iNXT::destroyModuleIterator method.
|
||||
|
||||
\param moduleNamePattern The module name pattern against which to match. The module
|
||||
name pattern may contain wildcards. Since extensions are implicit in the case of
|
||||
modules, a wildcard may only be used for the module name, as in "*.mod".
|
||||
\param status Status chaining object.
|
||||
\return A pointer to an iModuleIterator object that was created.
|
||||
*/
|
||||
virtual iModuleIterator* createModuleIterator( ViConstString moduleNamePattern,
|
||||
tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Destroys the specified module iterator.
|
||||
/*!
|
||||
\param moduleIteratorPtr A pointer to the module iterator object to destroy.
|
||||
*/
|
||||
virtual void destroyModuleIterator( iModuleIterator* moduleIteratorPtr ) = 0;
|
||||
|
||||
//! Retrieves the firmware version of this NXT.
|
||||
/*!
|
||||
Returns the protocol and firmware versions installed on this NXT.
|
||||
The current version of this driver supports a protocol major version number of 1 and a
|
||||
firmware major version number of 1. If either of these major version numbers is a
|
||||
value other than 1, the driver will not attempt to communicate to the NXT.
|
||||
The returned versions are undefined if the specified status is fatal.
|
||||
|
||||
\param protocolVersionMajorRef Reference to parameter that will be populated with the
|
||||
major protocol version.
|
||||
\param protocolVersionMinorRef Reference to parameter that will be populated with the
|
||||
minor protocol version.
|
||||
\param firmwareVersionMajorRef Reference to parameter that will be populated with the
|
||||
major firmware verison.
|
||||
\param firmwareVersionMinorRef Reference to parameter that will be populated with the
|
||||
minor firmware verison.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void getFirmwareVersion( ViUInt8& protocolVersionMajorRef,
|
||||
ViUInt8& protocolVersionMinorRef, ViUInt8& firmwareVersionMajorRef,
|
||||
ViUInt8& firmwareVersionMinorRef, tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Sends the specified direct command to this NXT.
|
||||
/*!
|
||||
For more information on direct commands, refer to the LEGO MINDSTORMS NXT Direct
|
||||
commands document.
|
||||
The command is not sent if the specified status is fatal.
|
||||
The command buffer must be non-NULL and the command buffer size in bytes must be
|
||||
non-zero.
|
||||
If require response is set to true, the response buffer must be non-NULL and the
|
||||
response buffer size in bytes must be non-zero.
|
||||
If require response is set to false, the response buffer must be NULL and the
|
||||
response buffer size in bytes must be zero.
|
||||
Both of the buffer size parameters must be small enough to fit in one packet for
|
||||
whichever bus the NXT is connected over (USB or Bluetooth). This means the
|
||||
maximum length for a direct command over USB is 63 bytes; over Bluetooth, 65,533
|
||||
bytes.
|
||||
If any of these requirements are violated, VI_ERROR_USER_BUF will be returned.
|
||||
|
||||
\param requireResponse Boolean flag indicating if a response is required.
|
||||
\param commandBufferPtr Buffer containing the direct command to send to the NXT.
|
||||
\param commandBufferSizeInBytes Number of bytes in the command buffer.
|
||||
\param responseBufferPtr Buffer that will be populated with the response to the direct
|
||||
command.
|
||||
\param responseBufferSizeInBytes Capacity of the response buffer in bytes.
|
||||
\param status Status chaining object.
|
||||
\return Number of bytes written to the response buffer.
|
||||
*/
|
||||
virtual ViUInt32 sendDirectCommand( ViBoolean requireResponse, const ViByte commandBufferPtr[],
|
||||
ViUInt32 commandBufferSizeInBytes, ViPBuf responseBufferPtr,
|
||||
ViUInt32 responseBufferSizeInBytes, tStatus& status ) = 0;
|
||||
|
||||
//! Downloads firmware to this NXT.
|
||||
/*!
|
||||
The NXT must already be in firmware-download mode.
|
||||
|
||||
\param firmwareBufferPtr The buffer containing the new firmware binary image.
|
||||
\param firmwareBufferSizeInBytes The number of bytes in the new firmware image.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void downloadFirmware( const ViByte firmwareBufferPtr[],
|
||||
ViUInt32 firmwareBufferSizeInBytes, tStatus& status ) = 0;
|
||||
|
||||
|
||||
//! Writes, in a generic fashion, to this NXT.
|
||||
/*!
|
||||
Writes a command directly to this NXT. In general, this method isn't used and,
|
||||
instead, the sendDirectCommand and other more specific methods are invoked when
|
||||
communication to the NXT.
|
||||
The write doesn not occur if the specified status is fatal.
|
||||
|
||||
\param bufferPtr A pointer to the buffer that contains the command that will be
|
||||
written.
|
||||
\param numberOfBytes Size of the buffer.
|
||||
\param status Status chaining object.
|
||||
\return The number of bytes actually written to the NXT.
|
||||
*/
|
||||
virtual ViUInt32 write( const ViByte bufferPtr[], ViUInt32 numberOfBytes,
|
||||
tStatus& status ) = 0;
|
||||
|
||||
//! Reads, in a generic fashion, from this NXT.
|
||||
/*!
|
||||
Reads a response directly from this NXT. In general, this method isn't used and,
|
||||
instead, the sendDirectCommand and other more specific methods are invoked when
|
||||
communication to the NXT.
|
||||
The command is not sent if the specified status is fatal.
|
||||
|
||||
\param bufferPtr A pointer to the buffer that will be populated with the response.
|
||||
\param numberOfBytes Number of bytes expected to be read from this NXT.
|
||||
\param status Status chaining object.
|
||||
\return The number of bytes actually read from this NXT.
|
||||
*/
|
||||
virtual ViUInt32 read ( ViPBuf bufferPtr, ViUInt32 numberOfBytes, tStatus& status ) = 0;
|
||||
|
||||
//! Reboots this NXT into firmware-download mode.
|
||||
/*!
|
||||
This is required before invoking the downloadFirmware method.
|
||||
The reboot does not occur is the specified status is fatal.
|
||||
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void bootIntoFirmwareDownloadMode( tStatus& status ) = 0;
|
||||
|
||||
//! Sets the name of this NXT.
|
||||
/*!
|
||||
The specified name will be displayed on the NXT, show up during Bluetooth scans, and
|
||||
returned when the getDeviceInfo method is called.
|
||||
|
||||
\param newName The name for the NXT. The name can be at most 15 characters. However,
|
||||
the NXT can only display 8 characters. The string must be NULL terminated.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void setName( ViConstString newName, tStatus& status ) = 0;
|
||||
|
||||
//! Retrieves basic information about this NXT.
|
||||
/*!
|
||||
Retrieves the name of this NXT, its Bluetooth address, the Bluetooth signal strength,
|
||||
and the number of bytes available.
|
||||
Information retrieval is not done if specified status is fatal.
|
||||
|
||||
\param name Populated with the name of this NXT. The name character array must be
|
||||
able to accomodate a NULL-terminated 15 character name. That is, it must have a
|
||||
capacity of 16 bytes.
|
||||
\param bluetoothAddress Populated with this NXT's Bluetooth address. The bluetooth
|
||||
address array must have a capacity of six bytes.
|
||||
\param signalStrength Populated with strength of the signal for this NXT's four
|
||||
Bluetooth conenctions. The signal strength array must have a capacity of four
|
||||
bytes.
|
||||
\param availableFlash Populated with the amount of memory in bytes that is not
|
||||
occupied by firmware or user files.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void getDeviceInfo( ViChar name[], ViByte bluetoothAddress[],
|
||||
ViUInt8 signalStrength[], ViUInt32 &availableFlash, tStatus& status ) = 0;
|
||||
|
||||
//! Erases all files from this NXT, leaving only the firmware.
|
||||
/*!
|
||||
All programs, sounds, and data logs are erased.
|
||||
The erasure does not occur if specified status is fatal.
|
||||
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void eraseUserFlash( tStatus& status ) = 0;
|
||||
|
||||
//! Polls the data buffer on this NXT for the number of bytes available to be read.
|
||||
/*
|
||||
The data buffer is not polled if the specified status is fatal.
|
||||
|
||||
\param bufferSelector The buffer from which to read.
|
||||
\param status Status chaining object.
|
||||
\return The number of bytes in the buffer available to be read.
|
||||
*/
|
||||
virtual ViUInt32 pollAvailableLength( tBuffer bufferSelector, tStatus& status ) = 0;
|
||||
|
||||
//! Reads data from the data buffer on this NXT.
|
||||
/*!
|
||||
Data is not read if the specified status is fatal.
|
||||
|
||||
\param dataBuffer Populated with the data that is read from the specified buffer.
|
||||
\param bufferSelector The buffer from which to read.
|
||||
\param numberOfBytesToRead The number of bytes to read from the data buffer.
|
||||
\param status Status chaining object.
|
||||
\return The number of bytes actually read from the data buffer.
|
||||
*/
|
||||
virtual ViUInt32 readBufferData( ViPBuf dataBuffer, tBuffer bufferSelector,
|
||||
ViUInt32 numberOfBytesToRead, tStatus& status ) = 0;
|
||||
|
||||
//! Retrieves the resource string for this NXT's session.
|
||||
/*
|
||||
An example resource string could look like the one of the following:
|
||||
BTH::LEGOBrick::00:16:53:04:05:06::5
|
||||
BTH::LEGOBrick::00:16:53:04:05:06::1
|
||||
BTH::Brick2::00:16:53:44:FF:66
|
||||
USB0::0x0694::0x0002::0016535127BA::RAW
|
||||
|
||||
\param resourceString Populated with the resource string. The resource string must
|
||||
have a capacity of 256 bytes.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void getResourceString( ViChar resourceString[], tStatus& status ) = 0;
|
||||
|
||||
//! Resets the Bluetooth module on this NXT to its factory settings.
|
||||
/*
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void bluetoothFactoryReset( tStatus& status ) = 0;
|
||||
|
||||
//! Creates an NXT object
|
||||
/*!
|
||||
Creates an NXT object representing the specified NXT.
|
||||
The NXT object is not created if the specified status is fatal.
|
||||
The returned NXT object should be destroyed using the iNXT::destroyNXT method.
|
||||
|
||||
\param resourceString A string identifying which resource should be opened. A list
|
||||
of possible strings can be obtained using an iNXTIterator (refer to the
|
||||
createNXTIterator method).
|
||||
\param status Status chaining object.
|
||||
\param checkFirmwareVersion A boolean flag that specifies whether version validation
|
||||
should occur (defaults to true).
|
||||
\return A pointer to the iNXT object that was created.
|
||||
*/
|
||||
nFANTOM100_kExport static iNXT* _VI_FUNCC createNXT( ViConstString resourceString,
|
||||
tStatus& status, ViBoolean checkFirmwareVersion = true );
|
||||
|
||||
//! Destroys an NXT object
|
||||
/*!
|
||||
\param nxtPtr A pointer to the NXT object to destroy; may be NULL
|
||||
*/
|
||||
nFANTOM100_kExport static void _VI_FUNCC destroyNXT( iNXT* nxtPtr );
|
||||
|
||||
//! Creates an NXT iterator.
|
||||
/*!
|
||||
The NXT iterator can be used to find all NXTs that are connected (USB) or in range
|
||||
(Bluetooth).
|
||||
The NXT iterator is not created if the specified status is fatal.
|
||||
The returned NXT iterator object should be destroyed using the
|
||||
iNXT::destroyNXTIterator method.
|
||||
|
||||
\param searchBluetooth A boolean flag that specifies if the iterator should traverse
|
||||
NXTs via Bluetooth.
|
||||
\param bluetoothSearchTimeoutInSeconds The minimum number of seconds that should be
|
||||
spent waiting for Bluetooth devices to respond.
|
||||
\param status Status chaining object.
|
||||
\return A pointer to the iNXTIterator object that was created.
|
||||
*/
|
||||
nFANTOM100_kExport static iNXTIterator* _VI_FUNCC createNXTIterator(
|
||||
ViBoolean searchBluetooth, ViUInt32 bluetoothSearchTimeoutInSeconds,
|
||||
tStatus& status );
|
||||
|
||||
//! Destroys an NXT iterator object.
|
||||
/*
|
||||
\param iterPtr A pointer to the iNXTIterator object to destroy.
|
||||
*/
|
||||
nFANTOM100_kExport static void _VI_FUNCC destroyNXTIterator( iNXTIterator* iterPtr );
|
||||
|
||||
//! Pairs with an NXT via Bluetooth.
|
||||
/*!
|
||||
Programmatically pairs the specified NXT to this computer and, on Windows, creates a
|
||||
virtual serial port to use for communication with that NXT. However, clients
|
||||
should not depend on the creation of this virtual serial port.
|
||||
The pairing is not done if the specified status is fatal.
|
||||
|
||||
\param resourceName The resource string that specifies the NXT with which to pair.
|
||||
\param passkey A string containing the passkey the computer should exchange with the
|
||||
device. The passkey cannot be longer than 15 characters and must be
|
||||
NULL-terminated.
|
||||
\param pairedResourceName A Bluetooth resource string representing the paired device.
|
||||
On Windows, the specified resourceName is suffixed with the COM port; On Mac OS X,
|
||||
the RFCOMM channel identifier. The resource string must have a capacity of 256
|
||||
bytes.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
nFANTOM100_kExport static void _VI_FUNCC pairBluetooth( ViConstString resourceName,
|
||||
ViConstString passkey, ViChar pairedResourceName[], tStatus& status );
|
||||
|
||||
//! Unpairs with an NXT via Bluetooth.
|
||||
/*!
|
||||
Programmatically destroys the Bluetooth pairing that was previously established
|
||||
between this computer and the specified NXT. On Mac OS X, this method has no
|
||||
effect and doesn't generate a fatal status.
|
||||
The unpairing is not done if the specified status is fatal.
|
||||
|
||||
\param resourceName The resource string that specifies the NXT with which to unpair.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
nFANTOM100_kExport static void _VI_FUNCC unpairBluetooth( ViConstString resourceName,
|
||||
tStatus& status );
|
||||
|
||||
//! Determines if the NXT associated with the specified resource string is paired.
|
||||
/*!
|
||||
The determination is not done if the specified status is fatal.
|
||||
|
||||
\param resourceName A resource string that specifies the NXT for which to check its
|
||||
pairing status.
|
||||
\param status Status chaining object.
|
||||
\return VI_TRUE if the NXT is paired with this computer (or if it is connected via
|
||||
USB); VI_FALSE otherwise.
|
||||
*/
|
||||
nFANTOM100_kExport static ViBoolean _VI_FUNCC isPaired( ViConstString resourceName,
|
||||
tStatus& status );
|
||||
|
||||
//! Finds the NXT that is currently in firmware-download mode.
|
||||
/*!
|
||||
Note that only a single NXT may be in firmware-download mode at a time.
|
||||
|
||||
\param resourceName Populated with the resource string. The resource string must
|
||||
have a capacity of 256 bytes.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
nFANTOM100_kExport static void findDeviceInFirmwareDownloadMode( ViChar resourceName[],
|
||||
tStatus& status );
|
||||
|
||||
|
||||
private:
|
||||
|
||||
};
|
||||
|
||||
// constants...
|
||||
|
||||
} // namespace nFANTOM100
|
||||
|
||||
|
||||
// declarations for globally-scoped globals...
|
||||
|
||||
// typedefs...
|
||||
typedef ViObject nFANTOM100_iNXT;
|
||||
|
||||
// prototypes...
|
||||
extern "C"
|
||||
{
|
||||
|
||||
nFANTOM100_kExport nFANTOM100_iNXTIterator _VI_FUNCC nFANTOM100_createNXTIterator(
|
||||
ViBoolean searchBluetooth,
|
||||
ViUInt32 bluetoothSearchTimeoutInSeconds,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_destroyNXTIterator(
|
||||
nFANTOM100_iNXTIterator iterPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_pairBluetooth(
|
||||
ViConstString resourceName,
|
||||
ViConstString passkey,
|
||||
ViChar pairedResourceName[],
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_unpairBluetooth(
|
||||
ViConstString resourceName,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViBoolean _VI_FUNCC nFANTOM100_isPaired(
|
||||
ViConstString resourceName,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport nFANTOM100_iNXT _VI_FUNCC nFANTOM100_createNXT(
|
||||
ViConstString resourceString,
|
||||
ViStatus* status,
|
||||
ViBoolean checkFirmwareVersion );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_destroyNXT(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport nFANTOM100_iFile _VI_FUNCC nFANTOM100_iNXT_createFile(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViConstString fileName,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_destroyFile(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
nFANTOM100_iFile filePtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport nFANTOM100_iFileIterator _VI_FUNCC nFANTOM100_iNXT_createFileIterator(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViConstString fileNamePattern,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_destroyFileIterator(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
nFANTOM100_iFileIterator fileIteratorPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport nFANTOM100_iModule _VI_FUNCC nFANTOM100_iNXT_createModule(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViConstString moduleName,
|
||||
ViUInt32 moduleID,
|
||||
ViUInt32 moduleSize,
|
||||
ViUInt32 ioMapSizeInBytes,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_destroyModule(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
nFANTOM100_iModule modulePtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport nFANTOM100_iModuleIterator _VI_FUNCC nFANTOM100_iNXT_createModuleIterator(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViConstString moduleNamePattern,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_destroyModuleIterator(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
nFANTOM100_iModuleIterator moduleIteratorPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_getFirmwareVersion(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViUInt8* protocolVersionMajorPtr,
|
||||
ViUInt8* protocolVersionMinorPtr,
|
||||
ViUInt8* firmwareVersionMajorPtr,
|
||||
ViUInt8* firmwareVersionMinorPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iNXT_sendDirectCommand(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViBoolean requireResponse,
|
||||
const ViByte commandBufferPtr[],
|
||||
ViUInt32 commandBufferSizeInBytes,
|
||||
ViPBuf responseBufferPtr,
|
||||
ViUInt32 responseBufferSizeInBytes,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_findDeviceInFirmwareDownloadMode(
|
||||
ViChar resourceString[],
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_downloadFirmware(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
const ViByte firmwareBufferPtr[],
|
||||
ViUInt32 firmwareBufferSize,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iNXT_write(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
const ViByte bufferPtr[],
|
||||
ViUInt32 numberOfBytes,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iNXT_read(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViPBuf bufferPtr,
|
||||
ViUInt32 numberOfBytes,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_bootIntoFirmwareDownloadMode(
|
||||
ViConstString resouceName,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_setName(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViConstString newName,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_getDeviceInfo(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViChar name[],
|
||||
ViByte bluetoothAddress[],
|
||||
ViUInt8 signalStrength[],
|
||||
ViUInt32* availableFlash,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_eraseUserFlash(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iNXT_pollAvailableLength(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViUInt32 bufferIndex,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iNXT_readBufferData(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViPBuf dataBuffer,
|
||||
ViUInt32 bufferIndex,
|
||||
ViUInt32 numberOfBytesToRead,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_getResourceString(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViChar resourceString[],
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_bluetoothFactoryReset(
|
||||
nFANTOM100_iNXT nxtPtr,
|
||||
ViStatus* status );
|
||||
|
||||
|
||||
} // extern "C"
|
||||
|
||||
|
||||
// inline functions and function macros...
|
||||
|
||||
|
||||
#endif // ___fantom_iNXT_h___
|
||||
120
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/iNXTIterator.h
Executable file
120
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/iNXTIterator.h
Executable file
@@ -0,0 +1,120 @@
|
||||
/*!
|
||||
\file iNXTIterator.h
|
||||
\brief Interface used for searching for LEGO MINDSTORMS NXTs.
|
||||
*/
|
||||
/*
|
||||
<20> Copyright 2005-2006,
|
||||
National Instruments Corporation.
|
||||
All rights reserved.
|
||||
|
||||
File: iNXTIterator.h
|
||||
Originated: 17 Oct 2005
|
||||
*/
|
||||
|
||||
#ifndef ___fantom_iNXTIterator_h___
|
||||
#define ___fantom_iNXTIterator_h___
|
||||
|
||||
|
||||
// includes...
|
||||
|
||||
#ifndef ___fantom_platform_h___
|
||||
#include "platform.h"
|
||||
#endif
|
||||
|
||||
#ifndef ___fantom_tStatus_h___
|
||||
#include "tStatus.h"
|
||||
#endif
|
||||
|
||||
|
||||
// defines...
|
||||
|
||||
|
||||
namespace nFANTOM100
|
||||
{
|
||||
// forward declarations...
|
||||
class iNXT;
|
||||
|
||||
// typedefs...
|
||||
|
||||
// classes...
|
||||
|
||||
/*!
|
||||
\class iNXTIterator
|
||||
\brief Interface to an iterator for LEGO MINDSTORMS NXTs.
|
||||
*/
|
||||
class iNXTIterator
|
||||
{
|
||||
friend class iNXT;
|
||||
|
||||
// methods
|
||||
protected:
|
||||
|
||||
//! Destructor
|
||||
virtual ~iNXTIterator() = 0;
|
||||
|
||||
public:
|
||||
|
||||
//! Retrieves the name of the NXT to which this iterator refers.
|
||||
/*
|
||||
\param resourceName Populated with the name of the NXT to which this iterator
|
||||
currently refers. The resource name character array must have a capacity of 256
|
||||
bytes.
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void getName( ViChar resourceName[], tStatus& status ) const = 0;
|
||||
|
||||
//! Advances this iterator.
|
||||
/*!
|
||||
Advances this iterator to the next NXT that was found. If no more NXTs are found,
|
||||
this iterator is advanced to the end of the list.
|
||||
The iterator is not advanced if the specified status is fatal.
|
||||
If this iterator is already at the end of the list, a fatal status will be generated.
|
||||
|
||||
\param status Status chaining object.
|
||||
*/
|
||||
virtual void advance( tStatus& status ) = 0;
|
||||
|
||||
//! Creates an NXT object for the NXT referenced by this iterator.
|
||||
/*
|
||||
Creates an NXT object for the NXT referenced by this iterator. An object is not
|
||||
created if the specified status is fatal or if this iterator refers to the end of
|
||||
the list. The returned iNXT object should be destroyed using the iNXT::destroyNXT
|
||||
method.
|
||||
|
||||
\param status Status chaining object.
|
||||
\return A pointer to the iNXT object that was created.
|
||||
*/
|
||||
virtual iNXT* getNXT( tStatus& status ) = 0;
|
||||
};
|
||||
|
||||
|
||||
// constants...
|
||||
|
||||
} // namespace nFANTOM100
|
||||
|
||||
|
||||
// declarations for globally-scoped globals...
|
||||
|
||||
// typedefs
|
||||
typedef ViObject nFANTOM100_iNXTIterator;
|
||||
|
||||
// we must duplicate this typedef for the getNXT C wrapper
|
||||
typedef ViObject nFANTOM100_iNXT;
|
||||
|
||||
extern "C"
|
||||
{
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXTIterator_getName(
|
||||
nFANTOM100_iNXTIterator iteratorPtr,
|
||||
ViChar resourceName[],
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXTIterator_advance(
|
||||
nFANTOM100_iNXTIterator iteratorPtr,
|
||||
ViStatus* status );
|
||||
|
||||
nFANTOM100_kExport nFANTOM100_iNXT _VI_FUNCC nFANTOM100_iNXTIterator_getNXT(
|
||||
nFANTOM100_iNXTIterator iteratorPtr,
|
||||
ViStatus* status );
|
||||
}
|
||||
|
||||
#endif // ___fantom_iNXTIterator_h___
|
||||
94
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/platform.h
Executable file
94
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/platform.h
Executable file
@@ -0,0 +1,94 @@
|
||||
/*!
|
||||
\file platform.h
|
||||
\brief This file contains platform-related defines.
|
||||
*/
|
||||
/*
|
||||
<20> Copyright 2005,
|
||||
National Instruments Corporation.
|
||||
All rights reserved.
|
||||
|
||||
File: platform.h
|
||||
Originated: 23 June 2005
|
||||
*/
|
||||
|
||||
|
||||
#ifndef ___fantom_platform_h___
|
||||
#define ___fantom_platform_h___
|
||||
|
||||
#ifndef __VISATYPE_HEADER__
|
||||
#include "visatype.h"
|
||||
#endif
|
||||
|
||||
|
||||
#define nFANTOM100_kOSMacOSX 0
|
||||
#define nFANTOM100_kOSWin32 0
|
||||
|
||||
#define nFANTOM100_kProcessorI386 0
|
||||
#define nFANTOM100_kProcessorPPC 0
|
||||
|
||||
#define nFANTOM100_kCompilerMSVC 0
|
||||
#define nFANTOM100_kCompilerApple 0
|
||||
|
||||
|
||||
#if (( defined( __GNUG__ ) || defined( __GNUC__ )) && defined( __APPLE__ ))
|
||||
|
||||
#undef nFANTOM100_kOSMacOSX
|
||||
#define nFANTOM100_kOSMacOSX 1
|
||||
|
||||
#undef nFANTOM100_kCompilerApple
|
||||
#define nFANTOM100_kCompilerApple ( __GNUC__ * 10000 \
|
||||
+ __GNUC_MINOR__ * 100 \
|
||||
+ __GNUC_PATCHLEVEL__ )
|
||||
|
||||
#if ( defined( __ppc__ ))
|
||||
#undef nFANTOM100_kProcessorPPC
|
||||
#define nFANTOM100_kProcessorPPC 1
|
||||
|
||||
#define nFANTOM100_kBigEndian 1
|
||||
#define nFANTOM100_kLittleEndian 0
|
||||
#elif ( defined( __i386__ ))
|
||||
#undef nFANTOM100_kProcessorI386
|
||||
#define nFANTOM100_kProcessorI386 1
|
||||
|
||||
#define nFANTOM100_kBigEndian 0
|
||||
#define nFANTOM100_kLittleEndian 1
|
||||
#else
|
||||
#error Unknown processor.
|
||||
#endif
|
||||
|
||||
#ifdef nFANTOM100_kExportSymbols
|
||||
#define nFANTOM100_kExport __attribute__ ((section ("__TEXT,__export")))
|
||||
#else
|
||||
#define nFANTOM100_kExport
|
||||
#endif
|
||||
|
||||
|
||||
#elif ( defined( _MSC_VER ) && ( defined( _M_IX86 ) || defined( _M_I86 )))
|
||||
|
||||
#undef nFANTOM100_kOSWin32
|
||||
#define nFANTOM100_kOSWin32 1
|
||||
|
||||
#undef nFANTOM100_kCompilerMSVC
|
||||
#define nFANTOM100_kCompilerMSVC _MSC_VER
|
||||
|
||||
#undef nFANTOM100_kProcessorI386
|
||||
#define nFANTOM100_kProcessorI386 1
|
||||
|
||||
#ifdef nFANTOM100_kExportSymbols
|
||||
#define nFANTOM100_kExport __declspec(dllexport)
|
||||
#else
|
||||
#define nFANTOM100_kExport __declspec(dllimport)
|
||||
#endif
|
||||
|
||||
#define nFANTOM100_kBigEndian 0
|
||||
#define nFANTOM100_kLittleEndian 1
|
||||
|
||||
#else
|
||||
|
||||
#error Unknown platform.
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
#endif // ___fantom_platform_h___
|
||||
|
||||
458
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/tStatus.h
Executable file
458
LEGO MINDSTORMS NXT Software Developer Kit/fantom/includes/fantom/tStatus.h
Executable file
@@ -0,0 +1,458 @@
|
||||
/*!
|
||||
\file tStatus.h
|
||||
\brief Status code class
|
||||
*/
|
||||
/*
|
||||
<20> Copyright 2005-2006,
|
||||
National Instruments Corporation.
|
||||
All rights reserved.
|
||||
|
||||
File: tStatus.h
|
||||
Originated: 10 March 2005
|
||||
*/
|
||||
|
||||
#ifndef ___fantom_tStatus_h___
|
||||
#define ___fantom_tStatus_h___
|
||||
|
||||
// includes ...
|
||||
|
||||
#ifndef ___fantom_platform_h___
|
||||
#include "platform.h"
|
||||
#endif
|
||||
|
||||
#include <string.h>
|
||||
|
||||
|
||||
// defines...
|
||||
|
||||
#define nFANTOM_mLocation __FILE__, __LINE__
|
||||
|
||||
#define nFANTOM_ForceToWarning(s) (((s) >= 0 ) ? (s) : -(s))
|
||||
#define nFANTOM_ForceToFatal(s) (((s) <= 0 ) ? (s) : -(s))
|
||||
|
||||
/*!
|
||||
\brief The namespace for Fantom 1.0.
|
||||
*/
|
||||
namespace nFANTOM100
|
||||
{
|
||||
// forward declarations...
|
||||
|
||||
// typedefs...
|
||||
|
||||
// classes...
|
||||
const ViInt32 kStatusOffset = -142000; // 0xFFFDD550
|
||||
const ViStatus kStatusSuccess = VI_SUCCESS;
|
||||
|
||||
/*!
|
||||
\brief Enumeration of Fantom-specific status codes. NI-VISA status codes may also be
|
||||
returned. These are documented in the NI-VISA Programmer Reference Manual which is
|
||||
available from <http://ni.com/>.
|
||||
*/
|
||||
enum tFANTOMStatus
|
||||
{
|
||||
kStatusFirst = (kStatusOffset + 0),
|
||||
|
||||
//! Error: Bluetooth pairing operation failed.
|
||||
//! Warning: You have already paired with that Bluetooth device.
|
||||
kStatusPairingFailed = (kStatusOffset + -5), // 0x54B
|
||||
|
||||
//! Error: Bluetooth search failed.
|
||||
kStatusBluetoothSearchFailed = (kStatusOffset + -6), // 0x54A
|
||||
|
||||
//! Error: System library not found.
|
||||
kStatusSystemLibraryNotFound = (kStatusOffset + -7), // 0x549
|
||||
|
||||
//! Error: Bluetooth unpairing operation failed.
|
||||
kStatusUnpairingFailed = (kStatusOffset + -8), // 0x548
|
||||
|
||||
//! Error: Invalid filename specified.
|
||||
kStatusInvalidFilename = (kStatusOffset + -9), // 0x547
|
||||
|
||||
//! Error: Invalid iterator dereference. (No object to get.)
|
||||
kStatusInvalidIteratorDereference = (kStatusOffset + -10), // 0x546
|
||||
|
||||
//! Error: Resource locking operation failed.
|
||||
kStatusLockOperationFailed = (kStatusOffset + -11), // 0x545
|
||||
|
||||
//! Error: Could not determine the requested size.
|
||||
kStatusSizeUnknown = (kStatusOffset + -12), // 0x544
|
||||
|
||||
//! Error: Cannot open two objects at once.
|
||||
kStatusDuplicateOpen = (kStatusOffset + -13), // 0x543
|
||||
|
||||
//! Error: File is empty.
|
||||
//! Warning: The requested file is empty.
|
||||
kStatusEmptyFile = (kStatusOffset + -14), // 0x542
|
||||
|
||||
//! Error: Firmware download failed.
|
||||
kStatusFirmwareDownloadFailed = (kStatusOffset + -15), // 0x541
|
||||
|
||||
//! Error: Could not locate virtual serial port.
|
||||
kStatusPortNotFound = (kStatusOffset + -16), // 0x540
|
||||
|
||||
//! Error: No more items found.
|
||||
kStatusNoMoreItemsFound = (kStatusOffset + -17), // 0x53F
|
||||
|
||||
//! Error: Too many unconfigured devices.
|
||||
kStatusTooManyUnconfiguredDevices = (kStatusOffset + -18), // 0x53E
|
||||
|
||||
//! Error: Command mismatch in firmware response.
|
||||
kStatusCommandMismatch = (kStatusOffset + -19), // 0x53D
|
||||
|
||||
//! Error: Illegal operation.
|
||||
kStatusIllegalOperation = (kStatusOffset + -20), // 0x53C
|
||||
|
||||
//! Error: Could not update local Bluetooth cache with new name.
|
||||
//! Warning: Could not update local Bluetooth cache with new name.
|
||||
kStatusBluetoothCacheUpdateFailed = (kStatusOffset + -21), // 0x53B
|
||||
|
||||
//! Error: Selected device is not an NXT.
|
||||
kStatusNonNXTDeviceSelected = (kStatusOffset + -22), // 0x53A
|
||||
|
||||
//! Error: Communication error. Retry the operation.
|
||||
kStatusRetryConnection = (kStatusOffset + -23), // 0x539
|
||||
|
||||
//! Error: Could not connect to NXT. Turn the NXT off and then back on before continuing.
|
||||
kStatusPowerCycleNXT = (kStatusOffset + -24), // 0x538
|
||||
|
||||
//! Error: This feature is not yet implemented.
|
||||
kStatusFeatureNotImplemented = (kStatusOffset + -99), // 0x4ED
|
||||
|
||||
//! Error: Firmware reported an illegal handle.
|
||||
kStatusFWIllegalHandle = (kStatusOffset + -189), // 0x493
|
||||
|
||||
//! Error: Firmware reported an illegal file name.
|
||||
kStatusFWIllegalFileName = (kStatusOffset + -190), // 0x492
|
||||
|
||||
//! Error: Firmware reported an out of bounds reference.
|
||||
kStatusFWOutOfBounds = (kStatusOffset + -191), // 0x491
|
||||
|
||||
//! Error: Firmware could not find module.
|
||||
kStatusFWModuleNotFound = (kStatusOffset + -192), // 0x490
|
||||
|
||||
//! Error: Firmware reported that the file already exists.
|
||||
kStatusFWFileExists = (kStatusOffset + -193), // 0x48F
|
||||
|
||||
//! Error: Firmware reported that the file is full.
|
||||
kStatusFWFileIsFull = (kStatusOffset + -194), // 0x48E
|
||||
|
||||
//! Error: Firmware reported the append operation is not possible.
|
||||
kStatusFWAppendNotPossible = (kStatusOffset + -195), // 0x48D
|
||||
|
||||
//! Error: Firmware has no write buffers available.
|
||||
kStatusFWNoWriteBuffers = (kStatusOffset + -196), // 0x48C
|
||||
|
||||
//! Error: Firmware reported that file is busy.
|
||||
kStatusFWFileIsBusy = (kStatusOffset + -197), // 0x48B
|
||||
|
||||
//! Error: Firmware reported the undefined error.
|
||||
kStatusFWUndefinedError = (kStatusOffset + -198), // 0x48A
|
||||
|
||||
//! Error: Firmware reported that no linear space is available.
|
||||
kStatusFWNoLinearSpace = (kStatusOffset + -199), // 0x489
|
||||
|
||||
//! Error: Firmware reported that handle has already been closed.
|
||||
kStatusFWHandleAlreadyClosed = (kStatusOffset + -200), // 0x488
|
||||
|
||||
//! Error: Firmware could not find file.
|
||||
kStatusFWFileNotFound = (kStatusOffset + -201), // 0x487
|
||||
|
||||
//! Error: Firmware reported that the requested file is not linear.
|
||||
kStatusFWNotLinearFile = (kStatusOffset + -202), // 0x486
|
||||
|
||||
//! Error: Firmware reached the end of the file.
|
||||
kStatusFWEndOfFile = (kStatusOffset + -203), // 0x485
|
||||
|
||||
//! Error: Firmware expected an end of file.
|
||||
kStatusFWEndOfFileExpected = (kStatusOffset + -204), // 0x484
|
||||
|
||||
//! Error: Firmware cannot handle more files.
|
||||
kStatusFWNoMoreFiles = (kStatusOffset + -205), // 0x483
|
||||
|
||||
//! Error: Firmware reported the NXT is out of space.
|
||||
kStatusFWNoSpace = (kStatusOffset + -206), // 0x482
|
||||
|
||||
//! Error: Firmware could not create a handle.
|
||||
kStatusFWNoMoreHandles = (kStatusOffset + -207), // 0x481
|
||||
|
||||
//! Error: Firmware reported an unknown error code.
|
||||
kStatusFWUnknownErrorCode = (kStatusOffset + -208), // 0x480
|
||||
|
||||
kStatusLast = (kStatusOffset + -999)
|
||||
};
|
||||
|
||||
/*!
|
||||
\brief Class that contains a status code and the file name and line number where that
|
||||
status code was generated.
|
||||
*/
|
||||
class tStatus
|
||||
{
|
||||
public:
|
||||
|
||||
// methods
|
||||
|
||||
//! constructor
|
||||
/*!
|
||||
Creates a tStatus object intialized to success.
|
||||
|
||||
\post The status code is set to VI_SUCCESS.
|
||||
*/
|
||||
inline tStatus( void ) :
|
||||
_code( VI_SUCCESS ),
|
||||
_lineNumber( 0 )
|
||||
{
|
||||
_fileName[0] = '\0';
|
||||
}
|
||||
|
||||
|
||||
//! copy constructor
|
||||
/*!
|
||||
Copies the code, line number, and file name from the specified tStatus object.
|
||||
|
||||
\param status The status object to copy.
|
||||
*/
|
||||
inline tStatus( const tStatus& status ) :
|
||||
_code( status._code ),
|
||||
_lineNumber( status._lineNumber )
|
||||
{
|
||||
::strcpy( _fileName, "" );
|
||||
::strncat( _fileName, status._fileName, kMaxFileNameLength - 1 );
|
||||
}
|
||||
|
||||
|
||||
//! constructor with code, filename, and line number
|
||||
/*!
|
||||
Creates a tStatus object initialized to the specified code, file name, and line number.
|
||||
Note that the nFANTOM_mLocation macro can be used to pass the fileName and lineNumber
|
||||
parameters.
|
||||
|
||||
\param code A status code.
|
||||
\param fileName The name of the file in which the status code was generated.
|
||||
\param lineNumber The line number in the file at which the status code was generated.
|
||||
*/
|
||||
inline tStatus( ViStatus code, const char* fileName, ViUInt32 lineNumber ) :
|
||||
_code( code ),
|
||||
_lineNumber( lineNumber )
|
||||
{
|
||||
::strcpy( _fileName, "" );
|
||||
::strncat( _fileName, reinterpret_cast<const char*>( fileName ), kMaxFileNameLength - 1 );
|
||||
}
|
||||
|
||||
|
||||
//! destructor
|
||||
inline ~tStatus()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
//! Returns the status code for this status object.
|
||||
/*!
|
||||
\return The status code for this status object.
|
||||
*/
|
||||
inline ViStatus getCode( void ) const
|
||||
{
|
||||
return _code;
|
||||
}
|
||||
|
||||
|
||||
//! Returns the file name in which the status code, for this status object, was generated.
|
||||
/*!
|
||||
\return The file name in which the status code, for this status object, was generated.
|
||||
*/
|
||||
inline const char* getFileName( void ) const
|
||||
{
|
||||
return _fileName;
|
||||
}
|
||||
|
||||
|
||||
//! Returns the line number at which the status code, for this status object, was
|
||||
// generated.
|
||||
/*!
|
||||
\return The line number at which the status code, for this status object, was
|
||||
generated.
|
||||
*/
|
||||
inline ViUInt32 getLineNumber( void ) const
|
||||
{
|
||||
return _lineNumber;
|
||||
}
|
||||
|
||||
|
||||
//! Sets the status code, file name, and line number for this status object, if
|
||||
// appropriate.
|
||||
/*!
|
||||
Stores the specified status code, file name, and line number in this status object if
|
||||
this status object contains a successful status code or if this status object
|
||||
contains a warning status code and the specified status code is fatal. A fatal
|
||||
status code is denoted by a negative value. A successful status code is denoted
|
||||
by VI_SUCCESS.
|
||||
|
||||
\param code A status code.
|
||||
\param fileName The name of the file in which the status code was generated.
|
||||
\param lineNumber The line number in the file at which the status code was generated.
|
||||
*/
|
||||
inline void setCode( ViStatus code, const char* fileName, ViUInt32 lineNumber )
|
||||
{
|
||||
if(( isSuccess() && code != VI_SUCCESS ) || ( isNotFatal() && code < VI_SUCCESS ))
|
||||
{
|
||||
_code = code;
|
||||
_lineNumber = lineNumber;
|
||||
::strcpy( _fileName, "" );
|
||||
::strncat( _fileName, fileName, kMaxFileNameLength - 1 );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//! Assigns the specified status object to this status object, if appropriate.
|
||||
/*!
|
||||
Stores the status code, file name, and line number of the specified status object in
|
||||
this status object if this status object contains a successful status code or if
|
||||
this status object contains a warning status code and the status code of the
|
||||
speciied status object is fatal. A fatal status code is denoted by a negative
|
||||
value. A successful status code is denoted by VI_SUCCESS.
|
||||
|
||||
\param status The status object to assign.
|
||||
*/
|
||||
inline void assign( const tStatus& status )
|
||||
{
|
||||
setCode( status.getCode(), status.getFileName(), status.getLineNumber());
|
||||
}
|
||||
|
||||
|
||||
//! Clears the status code for this status object.
|
||||
/*!
|
||||
\post status The code is set to VI_SUCCESS.
|
||||
*/
|
||||
inline void clear( void )
|
||||
{
|
||||
_code = VI_SUCCESS;
|
||||
_lineNumber = 0;
|
||||
_fileName[0] = '\0';
|
||||
}
|
||||
|
||||
|
||||
//! Returns true if this status object contains a status code that is fatal.
|
||||
/*!
|
||||
A status code with a negative value is considered fatal.
|
||||
|
||||
\return true if this status object contains a status code that is
|
||||
fatal; false otherwise.
|
||||
*/
|
||||
inline bool isFatal( void ) const
|
||||
{
|
||||
return ( _code < VI_SUCCESS );
|
||||
}
|
||||
|
||||
//! Returns true if this status object contains a status code that is not fatal.
|
||||
/*!
|
||||
Any status code with a non-negative (including zero) value is considered non-fatal.
|
||||
|
||||
\return true if this status object contains a non-fatal status code;
|
||||
false otherwise.
|
||||
*/
|
||||
inline bool isNotFatal( void ) const
|
||||
{
|
||||
return !isFatal();
|
||||
}
|
||||
|
||||
|
||||
//! Returns true if this status object contains a status code that is a warning.
|
||||
/*!
|
||||
A status code with a non-zero, positive value is considered a warning.
|
||||
|
||||
\return true if this status object contains a status code that is a warning; false
|
||||
otherwise.
|
||||
*/
|
||||
inline bool isWarning( void ) const
|
||||
{
|
||||
return ( _code > VI_SUCCESS );
|
||||
}
|
||||
|
||||
|
||||
//! Returns true if this status object contains the status code for success.
|
||||
/*!
|
||||
A value of VI_SUCCESS represents success.
|
||||
|
||||
\return true if this status object contains the status code for success; false
|
||||
otherwise.
|
||||
*/
|
||||
inline bool isSuccess( void ) const
|
||||
{
|
||||
return ( _code == VI_SUCCESS );
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
// declared private to prevent assignment
|
||||
tStatus& operator=(const tStatus& rhs);
|
||||
|
||||
enum
|
||||
{
|
||||
kMaxFileNameLength = 101
|
||||
};
|
||||
|
||||
ViStatus _code;
|
||||
ViChar _fileName[ kMaxFileNameLength ];
|
||||
ViUInt32 _lineNumber;
|
||||
};
|
||||
|
||||
|
||||
// declarations for globally-scoped globals...
|
||||
inline ViStatus convertStatus( ViUInt8 firmwareStatus )
|
||||
{
|
||||
ViStatus status;
|
||||
switch (firmwareStatus)
|
||||
{
|
||||
// each of these cases corresponds to a unique status code returned by the firmware
|
||||
case 0x00 : status = kStatusSuccess;
|
||||
break;
|
||||
case 0x81 : status = kStatusFWNoMoreHandles; // No more available handles
|
||||
break;
|
||||
case 0x82 : status = kStatusFWNoSpace; // No space
|
||||
break;
|
||||
case 0x83 : status = kStatusFWNoMoreFiles; // No more files
|
||||
break;
|
||||
case 0x84 : status = kStatusFWEndOfFileExpected; // End of file expected
|
||||
break;
|
||||
case 0x85 : status = kStatusFWEndOfFile; // End of file reached
|
||||
break;
|
||||
case 0x86 : status = kStatusFWNotLinearFile; // Not a linear file
|
||||
break;
|
||||
case 0x87 : status = kStatusFWFileNotFound; // File not found
|
||||
break;
|
||||
case 0x88 : status = kStatusFWHandleAlreadyClosed; // Handle is already closed
|
||||
break;
|
||||
case 0x89 : status = kStatusFWNoLinearSpace; // No linear space available
|
||||
break;
|
||||
case 0x8A : status = kStatusFWUndefinedError; // Undefined error
|
||||
break;
|
||||
case 0x8B : status = kStatusFWFileIsBusy; // File is busy
|
||||
break;
|
||||
case 0x8C : status = kStatusFWNoWriteBuffers; // No write buffers available
|
||||
break;
|
||||
case 0x8D : status = kStatusFWAppendNotPossible; // Append not possible
|
||||
break;
|
||||
case 0x8E : status = kStatusFWFileIsFull; // File is full
|
||||
break;
|
||||
case 0x8F : status = kStatusFWFileExists; // File already exists
|
||||
break;
|
||||
case 0x90 : status = kStatusFWModuleNotFound; // Module not found
|
||||
break;
|
||||
case 0x91 : status = kStatusFWOutOfBounds; // Out of module I/O map boundary
|
||||
break;
|
||||
case 0x92 : status = kStatusFWIllegalFileName; // Illegal file name
|
||||
break;
|
||||
case 0x93 : status = kStatusFWIllegalHandle; // Illegal handle
|
||||
break;
|
||||
default :
|
||||
status = kStatusFWUnknownErrorCode;
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
// prototypes...
|
||||
|
||||
} // namespace nFANTOM100
|
||||
|
||||
// inline functions and function macros...
|
||||
|
||||
#endif // ___fantom_tStatus_h___
|
||||
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Reference in New Issue
Block a user