ArSickPacket Class Reference

Represents the packets sent to the sick as well as those received from it. More...

#include <ArSickPacket.h>

Inheritance diagram for ArSickPacket:

List of all members.

Public Member Functions
	ArSickPacket (unsigned char sendingAddress=0)
	Constructor.
ArTypes::Byte2	calcCRC (void)
	returns the crc, probably used only internally
virtual void	duplicatePacket (ArSickPacket *packet)
	Duplicates the packet.
virtual void	finalizePacket (void)
	MakeFinals the packet in preparation for sending, must be done.
ArTypes::UByte	getID (void)
	returns the ID of the packet (first byte of data)
unsigned char	getReceivedAddress (void)
	Gets the address this packet was sent from (only use for receiving).
unsigned char	getSendingAddress (void)
	Sets the address to send this packet to (only use for sending).
ArTime	getTimeReceived (void)
	Gets the time the packet was received at.
virtual void	resetRead (void)
	Restart the reading process.
void	setSendingAddress (unsigned char address)
	Sets the address to send this packet to (only use for sending).
void	setTimeReceived (ArTime timeReceived)
	Sets the time the packet was received at.
bool	verifyCRC (void)
	returns true if the crc matches what it should be
virtual	~ArSickPacket ()
	Destructor.
Protected Attributes
unsigned char	mySendingAddress
ArTime	myTimeReceived

---

Detailed Description

Represents the packets sent to the sick as well as those received from it.

This class reimplements some of the buf operations since the robot is little endian.

You can just look at the documentation for the ArBasePacket except for these functions here, setAddress, getAddress, verifyCheckSum, print, getID, and calcCheckSum.

Definition at line 44 of file ArSickPacket.h.

---

Member Function Documentation

void ArSickPacket::duplicatePacket (  ArSickPacket *  packet  )  [virtual]

Duplicates the packet. Copies the given packets buffer into the buffer of this packet, also sets this length and readlength to what the given packet has Parameters: packet  the packet to duplicate Definition at line 124 of file ArSickPacket.cpp. Referenced by ArSickPacketReceiver::receivePacket().

unsigned char ArSickPacket::getReceivedAddress (  void   )

Gets the address this packet was sent from (only use for receiving). This gets the address that this packet was received from. Note that this is only valid if this packet was received from a laser, if you want to know where a packet was addressed to use getSendingAdress instead. Returns: the address a packet was received from Definition at line 70 of file ArSickPacket.cpp. References ArBasePacket::bufToUByte().

unsigned char ArSickPacket::getSendingAddress (  void   )

Sets the address to send this packet to (only use for sending). This gets the address for use in sending packets, the address is what has been saved, then when a packet is finalizePacketd for sending, the address is put into the appropriate spot in the packet. Returns: the address of the laser to be addressed Definition at line 59 of file ArSickPacket.cpp.

void ArSickPacket::resetRead (  void   )  [virtual]

Restart the reading process. Sets the length read back to the header length so the packet can be reread using the other methods Reimplemented from ArBasePacket. Definition at line 90 of file ArSickPacket.cpp. Referenced by ArSickPacketReceiver::receivePacket().

void ArSickPacket::setSendingAddress (  unsigned char  address  )

Sets the address to send this packet to (only use for sending). This sets the address for use in sending packets, the address is saved, then when a packet is finalizePacketd for sending, the address is put into the appropriate spot in the packet. Parameters: address  the address of the laser to be addressed Definition at line 48 of file ArSickPacket.cpp.

---

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

• ArSickPacket.h
• ArSickPacket.cpp

---