ArACTS_1_2 Class Reference

Driver for ACTS. More...

#include <ArACTS.h>

List of all members.

Public Types
enum	ActsConstants {   NUM_CHANNELS = 32, MAX_BLOBS = 10, ACTS_BLOB_DATA_SIZE = 16, DATA_HEADER = NUM_CHANNELS * 4,   MAX_DATA = 5300 }
Public Member Functions
void	actsHandler (void)
	A function that reads information from acts and requests packets.
	ArACTS_1_2 ()
	Constructor.
bool	closePort (void)
	Closes the connection.
bool	getBlob (int channel, int blobNumber, ArACTSBlob *blob)
	Gets the given blob from the given channel.
int	getNumBlobs (int channel)
	Gets the number of blobs for the given chanel.
ArRobot *	getRobot (void)
	Gets the robot this class is connected to.
void	invert (int width=160, int height=120)
	This will make the image stats inverted (for use with an inverted camera).
bool	isConnected (void)
	Finds out whether there is connection.
bool	openPort (ArRobot *robot, const char *host="localhost", int port=5001)
	Opens the connection to ACTS.
bool	receiveBlobInfo (void)
	Gets the blob information from the connection to acts.
bool	requestPacket (void)
	Requests another packet.
bool	requestQuit (void)
	Requests that ACTS quits.
void	setRobot (ArRobot *robot)
	Sets the robot this class is connected to.
virtual	~ArACTS_1_2 ()
	Destructor.
Protected Member Functions
int	getData (char *rawData)
	an iternal function to strip out the information from some bytes
int	invertX (int before)
int	invertY (int before)
Protected Attributes
int	myBlobIndex [NUM_CHANNELS]
int	myBlobNum [NUM_CHANNELS]
bool	myBlobsBad
ArTcpConnection	myConn
char	myData [MAX_DATA]
int	myHeight
bool	myInverted
bool	myRequested
ArRobot *	myRobot
ArFunctorC< ArACTS_1_2 >	mySensorTaskCB
int	myWidth

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Detailed Description

Driver for ACTS.

Definition at line 89 of file ArACTS.h.

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Member Enumeration Documentation

enum ArACTS_1_2::ActsConstants

Enumeration values: NUM_CHANNELS  Number of channels there are. MAX_BLOBS  Number of blobs per channel. ACTS_BLOB_DATA_SIZE  Size of the blob data. DATA_HEADER  Size of the data header. MAX_DATA  Maximum amount of data. Definition at line 126 of file ArACTS.h.

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Member Function Documentation

bool ArACTS_1_2::closePort (  void   )

Closes the connection. Closes the port to the ACTS server Returns: true if the connection was closed properly, false otherwise Definition at line 78 of file ArACTS.cpp. References ArTcpConnection::close().

bool ArACTS_1_2::getBlob (  int  channel, int  blobNumber, ArACTSBlob *  blob )

Gets the given blob from the given channel. Gets the blobNumber from the channel given, fills the information for that blob into the given blob structure. Parameters: channel  the channel to get the blob from blobNumber  the number of the blob to get from the given channel blob  the blob instance to fill in with the data about the requested blob Returns: true if the blob instance could be filled in from the Definition at line 199 of file ArACTS.cpp. References ACTS_BLOB_DATA_SIZE, getData(), ArLog::log(), and NUM_CHANNELS. Referenced by ArActionColorFollow::fire().

int ArACTS_1_2::getNumBlobs (  int  channel  )

Gets the number of blobs for the given chanel. Returns: the number of blobs on the channel, or -1 if the channel is invalid Definition at line 168 of file ArACTS.cpp. References NUM_CHANNELS. Referenced by ArActionColorFollow::fire().

void ArACTS_1_2::invert (  int  width = 160, int  height = 120 )

This will make the image stats inverted (for use with an inverted camera). This inverts the image, but since ACTS doesn't tell this driver the height or width, you need to provide both of those for the image, default is 160x120. Parameters: width  the width of the images acts is grabbing (pixels) height  the height of the images acts is grabbing (pixels) Definition at line 284 of file ArACTS.cpp.

bool ArACTS_1_2::openPort (  ArRobot *  robot, const char *  host = "localhost", int  port = 5001 )

Opens the connection to ACTS. Opens the port to the ACTS server Parameters: robot  the robot to attach this to, which puts a sensorInterp on the robot so that ArACTS will always have fresh data from ACTS... giving a NULL value is perfectly acceptable, in this case ArACTS will not do any processing or requesting and you'll have to use receiveBlobInfo and requestPacket (or just call actsHandler) port  the port the ACTS server is running on, default of 5001 host  the host the ACTS server is running on, default is localhost (ie this machine) Returns: true if the connection was established, false otherwise Definition at line 57 of file ArACTS.cpp. References ArTcpConnection::getOpenMessage(), ArLog::log(), ArTcpConnection::open(), and setRobot(). Referenced by ArModeActs::ArModeActs().

bool ArACTS_1_2::receiveBlobInfo (  void   )

Gets the blob information from the connection to acts. Checks the connection to the ACTS server for data, if data is there it fills in the blob information, otherwise just returns false Returns: true if there was new data and the data could be read succesfully Definition at line 121 of file ArACTS.cpp. References ACTS_BLOB_DATA_SIZE, ArTcpConnection::getStatus(), ArLog::log(), NUM_CHANNELS, and ArTcpConnection::read(). Referenced by actsHandler().

bool ArACTS_1_2::requestPacket (  void   )

Requests another packet. Requests a packet from the ACTS server, specifically it sends the request to the acts server over its connection Returns: true if the command was sent succesfully, false otherwise Definition at line 88 of file ArACTS.cpp. References ArTcpConnection::getStatus(), ArLog::log(), and ArTcpConnection::write(). Referenced by actsHandler().

bool ArACTS_1_2::requestQuit (  void   )

Requests that ACTS quits. Sends a command to the ACTS server requesting that ACTS quit Returns: true if the request was sent succesfully, false otherwise Definition at line 104 of file ArACTS.cpp. References ArTcpConnection::getStatus(), ArLog::log(), and ArTcpConnection::write().

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The documentation for this class was generated from the following files:

• ArACTS.h
• ArACTS.cpp

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