ArRobotPacketReceiver Class Reference

#include <ArRobotPacketReceiver.h>

List of all members.

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Detailed Description

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

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 }
	STATE_ACQUIRE_DATA
	STATE_SYNC1
	STATE_SYNC2
Protected Attributes
bool	myAllocatePackets
ArDeviceConnection *	myDeviceConn
ArRobotPacket	myPacket
unsigned char	mySync1
unsigned char	mySync2

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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

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

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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; }

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

• ArRobotPacketReceiver.h
• ArRobotPacketReceiver.cpp

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