ArDeviceConnection Class Reference

Base class for device connections. More...

#include <ArDeviceConnection.h>

Inheritance diagram for ArDeviceConnection:

List of all members.

Public Types
enum	Status {   STATUS_NEVER_OPENED = 1, STATUS_OPEN, STATUS_OPEN_FAILED, STATUS_CLOSED_NORMALLY,   STATUS_CLOSED_ERROR }
Public Member Functions
	ArDeviceConnection ()
	constructor
virtual bool	close (void)
	Closes the connection.
virtual const char *	getOpenMessage (int messageNumber)=0
	Gets the string of the message associated with opening the device.
virtual int	getStatus (void)=0
	Gets the status of the connection, which is one of the enum status.
const char *	getStatusMessage (int messageNumber) const
	Gets the description string associated with the status.
virtual ArTime	getTimeRead (int index)=0
	Gets the time data was read in.
virtual bool	isTimeStamping (void)=0
	sees if timestamping is really going on or not
virtual bool	openSimple (void)=0
	Opens the connection again, using the values from setLocation or.
virtual int	read (const char *data, unsigned int size, unsigned int msWait=0)=0
	Reads data from connection.
virtual int	write (const char *data, unsigned int size)=0
	Writes data to connection.
virtual int	writePacket (ArBasePacket *packet)
	Writes data to connection.
virtual	~ArDeviceConnection ()
	destructor also forces a close on the connection
Protected Member Functions
void	buildStrMap (void)
Static Protected Attributes
static ArStrMap	ourStrMap
static bool	ourStrMapInited = false

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Detailed Description

Base class for device connections.

Base class for device connections, this is mostly for connections to the robot or simulator but could also be used for a connection to a laser or other device

Note that this is mostly a base class, so if you'll want to use one of the classes which inherit from this one... also note that in those classes is where you'll find setPort which sets the place the device connection will try to connect to... the inherited classes also have an open which returns more detailed information about the open attempt, and which takes the parameters for where to connect

Definition at line 48 of file ArDeviceConnection.h.

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Member Enumeration Documentation

enum ArDeviceConnection::Status

Enumeration values: STATUS_NEVER_OPENED  Never opened. STATUS_OPEN  Currently open. STATUS_OPEN_FAILED  Tried to open, but failed. STATUS_CLOSED_NORMALLY  Closed by a close call. STATUS_CLOSED_ERROR  Closed because of error. Definition at line 120 of file ArDeviceConnection.h.

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Member Function Documentation

virtual bool ArDeviceConnection::close (  void   )  [inline, virtual]

Closes the connection. Returns: whether the close succeeded or not Reimplemented in ArLogFileConnection, ArSerialConnection, and ArTcpConnection. Definition at line 110 of file ArDeviceConnection.h. Referenced by ArSick::disconnect(), ArRobot::disconnect(), ArSick::dropConnection(), ArRobot::dropConnection(), ArSick::failedConnect(), ArRobot::failedConnect(), and ~ArDeviceConnection().

virtual const char* ArDeviceConnection::getOpenMessage (  int  messageNumber  )  [pure virtual]

Gets the string of the message associated with opening the device. Each class inherited from this one has an open method which returns 0 for success or an integer which can be passed into this function to obtain a string describing the reason for failure Parameters: messageNumber  the number returned from the open Returns: the error description associated with the messageNumber Implemented in ArLogFileConnection, ArSerialConnection, and ArTcpConnection.

virtual int ArDeviceConnection::getStatus (  void   )  [pure virtual]

Gets the status of the connection, which is one of the enum status. Gets the status of the connection, which is one of the enum status. If you want to get a string to go along with the number, use getStatusMessage Returns: the status of the connection See also: getStatusMessage Implemented in ArLogFileConnection, ArSerialConnection, and ArTcpConnection. Referenced by ArRobot::asyncConnectHandler(), ArSick::internalConnectHandler(), ArSickPacketReceiver::receivePacket(), ArRobotPacketReceiver::receivePacket(), and ArPTZ::setDeviceConnection().

const char * ArDeviceConnection::getStatusMessage (  int  messageNumber  )  const

Gets the description string associated with the status. Parameters: messageNumber  the int from getStatus you want the string for Returns: the description associated with the status See also: getStatus Definition at line 58 of file ArDeviceConnection.cpp.

virtual ArTime ArDeviceConnection::getTimeRead (  int  index  )  [pure virtual]

Gets the time data was read in. Parameters: index  looks like this is the index back in the number of bytes last read in Returns: the time the last read data was read in Implemented in ArLogFileConnection, ArSerialConnection, and ArTcpConnection. Referenced by ArSickPacketReceiver::receivePacket().

virtual bool ArDeviceConnection::isTimeStamping (  void   )  [pure virtual]

sees if timestamping is really going on or not Returns: true if real timestamping is happening, false otherwise Implemented in ArLogFileConnection, ArSerialConnection, and ArTcpConnection.

virtual int ArDeviceConnection::read (  const char *  data, unsigned int  size, unsigned int  msWait = 0 )  [pure virtual]

Reads data from connection. Reads data from connection Parameters: data  pointer to a character array to read the data into size  maximum number of bytes to read msWait  read blocks for this many milliseconds (not at all for == 0) Returns: number of bytes read, or -1 for failure See also: write, writePacket Implemented in ArLogFileConnection, ArSerialConnection, and ArTcpConnection. Referenced by ArVCC4::readPacket(), and ArSickPacketReceiver::receivePacket().

virtual int ArDeviceConnection::write (  const char *  data, unsigned int  size )  [pure virtual]

Writes data to connection. Writes data to connection Parameters: data  pointer to a character array to write the data from size  number of bytes to write Returns: number of bytes read, or -1 for failure See also: read, writePacket Implemented in ArLogFileConnection, ArSerialConnection, and ArTcpConnection. Referenced by ArRobotPacketSender::com(), ArRobotPacketSender::comInt(), ArRobotPacketSender::comStr(), ArRobotPacketSender::comStrN(), ArSick::disconnect(), ArSick::internalConnectHandler(), ArPTZ::sendPacket(), and writePacket().

virtual int ArDeviceConnection::writePacket (  ArBasePacket *  packet  )  [inline, virtual]

Writes data to connection. Writes data to connection from a packet Parameters: packet  pointer to a packet to write the data from Returns: number of bytes written, or -1 for failure See also: read, write Definition at line 73 of file ArDeviceConnection.h. References write().

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

• ArDeviceConnection.h
• ArDeviceConnection.cpp

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