ArRobotPacketReceiver Class Reference

Given a device connection it receives packets from the robot through it. More...

#include <ArRobotPacketReceiver.h>

List of all members.

Public Member Functions
	ArRobotPacketReceiver (ArDeviceConnection *deviceConnection, bool allocatePackets=false, unsigned char sync1=0xfa, unsigned char sync2=0xfb)
	Constructor with assignment of a device connection.
	ArRobotPacketReceiver (bool allocatePackets=false, unsigned char sync1=0xfa, unsigned char sync2=0xfb)
	Constructor without an already assigned device connection.
ArDeviceConnection *	getDeviceConnection (void)
	Gets the device this instance receives packets from.
bool	isAllocatingPackets (void)
	Gets whether or not the receiver is allocating packets.
ArRobotPacket *	receivePacket (unsigned int msWait=0)
	Receives a packet from the robot if there is one available.
void	setDeviceConnection (ArDeviceConnection *deviceConnection)
	Sets the device this instance receives packets from.
virtual	~ArRobotPacketReceiver ()
	Destructor.
Protected Types
enum	{ STATE_SYNC1, STATE_SYNC2, STATE_ACQUIRE_DATA }
Protected Attributes
bool	myAllocatePackets
ArDeviceConnection *	myDeviceConn
ArRobotPacket	myPacket
unsigned char	mySync1
unsigned char	mySync2

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Detailed Description

Given a device connection it receives packets from the robot through it.

Definition at line 36 of file ArRobotPacketReceiver.h.

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Constructor & Destructor Documentation

ArRobotPacketReceiver::ArRobotPacketReceiver (  bool  allocatePackets = false, unsigned char  sync1 = 0xfa, unsigned char  sync2 = 0xfb )

Constructor without an already assigned device connection. Parameters: allocatePackets  whether to allocate memory for the packets before returning them (true) or to just return a pointer to an internal packet (false)... most everything should use false as this will help prevent many memory leaks or corruptions sync1  first byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it sync2  second byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it Definition at line 46 of file ArRobotPacketReceiver.cpp.

ArRobotPacketReceiver::ArRobotPacketReceiver (  ArDeviceConnection *  deviceConnection, bool  allocatePackets = false, unsigned char  sync1 = 0xfa, unsigned char  sync2 = 0xfb )

Constructor with assignment of a device connection. Parameters: deviceConnection  the connection which the receiver will use allocatePackets  whether to allocate memory for the packets before returning them (true) or to just return a pointer to an internal packet (false)... most everything should use false as this will help prevent many memory leaks or corruptions sync1  first byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it sync2  second byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it Definition at line 68 of file ArRobotPacketReceiver.cpp.

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Member Function Documentation

ArRobotPacket * ArRobotPacketReceiver::receivePacket (  unsigned int  msWait = 0  )

Receives a packet from the robot if there is one available. Parameters: msWait  how long to block for the start of a packet, nonblocking if 0 Returns: NULL if there are no packets in alloted time, otherwise a pointer to the packet received, if allocatePackets is true than the place that called this function owns the packet and should delete the packet when done... if allocatePackets is false then nothing must store a pointer to this packet, the packet must be used and done with by the time this method is called again this case can't happen since c can't be over that so taking it out if (c > 255) { ArLog::log(ArLog::Normal, "ArRobotPacketReceiver::receivePacket: bad packet, more than 255 bytes"); state = STATE_SYNC1; break; } Definition at line 104 of file ArRobotPacketReceiver.cpp. References ArTime::addMSec(), ArBasePacket::dataToBuf(), ArBasePacket::empty(), ArDeviceConnection::getStatus(), ArLog::log(), ArTime::mSecTo(), ArBasePacket::resetRead(), ArBasePacket::setLength(), ArRobotPacket::setTimeReceived(), ArTime::setToNow(), ArBasePacket::uByteToBuf(), and ArRobotPacket::verifyCheckSum(). Referenced by ArRobot::asyncConnectHandler(), and ArRobot::packetHandler().

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

• ArRobotPacketReceiver.h
• ArRobotPacketReceiver.cpp

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