ArDeviceConnection Class Reference

#include <ArDeviceConnection.h>

Inheritance diagram for ArDeviceConnection:

List of all members.

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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

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

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Member Enumeration Documentation

enum ArDeviceConnection::Status

Enumerator:

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.

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Member Function Documentation

virtual bool ArDeviceConnection::close

(

void

)

[inline, virtual]

Closes the connection.

Returns:

whether the close succeeded or not

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

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

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

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

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

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

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

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

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

• ArDeviceConnection.h

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