ArSickPacketReceiver Class Reference

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

#include <ArSickPacketReceiver.h>

List of all members.

Public Member Functions
	ArSickPacketReceiver (ArDeviceConnection *deviceConnection, unsigned char receivingAddress=0, bool allocatePackets=false, bool useBase0Address=false)
	Constructor with assignment of a device connection.
	ArSickPacketReceiver (unsigned char receivingAddress=0, bool allocatePackets=false, bool useBase0Address=false)
	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.
ArSickPacket *	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	~ArSickPacketReceiver ()
	Destructor.
Protected Types
enum	{ STATE_START, STATE_ADDR, STATE_START_COUNT, STATE_ACQUIRE_DATA }
Protected Attributes
bool	myAllocatePackets
ArDeviceConnection *	myDeviceConn
ArSickPacket	myPacket
unsigned char	myReceivingAddress
bool	myUseBase0Address

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Detailed Description

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

Definition at line 35 of file ArSickPacketReceiver.h.

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Constructor & Destructor Documentation

ArSickPacketReceiver::ArSickPacketReceiver (  unsigned char  receivingAddress = 0, bool  allocatePackets = false, bool  useBase0Address = false )

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 Definition at line 40 of file ArSickPacketReceiver.cpp.

ArSickPacketReceiver::ArSickPacketReceiver (  ArDeviceConnection *  deviceConnection, unsigned char  receivingAddress = 0, bool  allocatePackets = false, bool  useBase0Address = false )

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 Definition at line 57 of file ArSickPacketReceiver.cpp.

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Member Function Documentation

ArSickPacket * ArSickPacketReceiver::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 Definition at line 93 of file ArSickPacketReceiver.cpp. References ArTime::addMSec(), ArBasePacket::dataToBuf(), ArSickPacket::duplicatePacket(), ArBasePacket::empty(), ArBasePacket::getHeaderLength(), ArBasePacket::getMaxLength(), ArDeviceConnection::getStatus(), ArDeviceConnection::getTimeRead(), ArLog::log(), ArTime::mSecTo(), ArDeviceConnection::read(), ArSickPacket::resetRead(), ArBasePacket::setLength(), ArSickPacket::setTimeReceived(), ArTime::setToNow(), ArBasePacket::uByteToBuf(), and ArSickPacket::verifyCRC(). Referenced by ArSick::disconnect(), ArSick::internalConnectHandler(), and ArSick::runOnce().

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

• ArSickPacketReceiver.h
• ArSickPacketReceiver.cpp

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