ArACTS_1_2 Class Reference

Communicate with ACTS. More...

#include <ArACTS.h>

Public Types
enum	ActsConstants {   NUM_CHANNELS = 32, MAX_BLOBS = 10, ACTS_BLOB_DATA_SIZE = 16, DATA_HEADER = NUM_CHANNELS * 4,   MAX_DATA = 5300 }

Public Member Functions
void	actsHandler (void)
	A function that reads information from acts and requests packets.
	ArACTS_1_2 ()
	Constructor.
bool	closePort (void)
	Closes the connection. More...
bool	getBlob (int channel, int blobNumber, ArACTSBlob *blob)
	Gets the given blob from the given channel. More...
int	getNumBlobs (int channel)
	Gets the number of blobs for the given chanel. More...
ArRobot *	getRobot (void)
	Gets the robot this class is connected to.
void	invert (int width=160, int height=120)
	This will make the image stats inverted (for use with an inverted camera) More...
bool	isConnected (void)
	Finds out whether there is connection.
bool	openPort (ArRobot *robot, const char *host="localhost", int port=5001)
	Opens the connection to ACTS. More...
bool	receiveBlobInfo (void)
	Gets the blob information from the connection to acts. More...
bool	requestPacket (void)
	Requests another packet. More...
bool	requestQuit (void)
	Requests that ACTS quits. More...
void	setRobot (ArRobot *robot)
	Sets the robot this class is connected to.
virtual	~ArACTS_1_2 ()
	Destructor.

Protected Member Functions
int	getData (char *rawData)
	an iternal function to strip out the information from some bytes
int	invertX (int before)
int	invertY (int before)

Protected Attributes
int	myBlobIndex [NUM_CHANNELS]
int	myBlobNum [NUM_CHANNELS]
bool	myBlobsBad
ArTcpConnection	myConn
char	myData [MAX_DATA]
int	myHeight
bool	myInverted
bool	myRequested
ArRobot *	myRobot
ArFunctorC< ArACTS_1_2 >	mySensorTaskCB
int	myWidth

Detailed Description

Communicate with ACTS.

Examples:

actsColorFollowingExample.cpp.

Member Enumeration Documentation

ActsConstants

enum ArACTS_1_2::ActsConstants

Enumerator
NUM_CHANNELS	Number of channels there are.
MAX_BLOBS	Number of blobs per channel.
ACTS_BLOB_DATA_SIZE	Size of the blob data.
DATA_HEADER	Size of the data header.
MAX_DATA	Maximum amount of data.

Member Function Documentation

closePort()

bool ArACTS_1_2::closePort

(

void

)

Closes the connection.

Closes the port to the ACTS server.

Returns

true if the connection was closed properly, false otherwise

getBlob()

bool ArACTS_1_2::getBlob	(	int	channel,
		int	blobNumber,
		ArACTSBlob *	blob
	)

Gets the given blob from the given channel.

Gets the blobNumber from the channel given, fills the information for that blob into the given blob structure.

Parameters

channel	the channel to get the blob from
blobNumber	the number of the blob to get from the given channel
blob	the blob instance to fill in with the data about the requested blob

Returns

true if the blob instance could be filled in from the

getNumBlobs()

int ArACTS_1_2::getNumBlobs

(

int

channel

)

Gets the number of blobs for the given chanel.

Returns

the number of blobs on the channel, or -1 if the channel is invalid

invert()

void ArACTS_1_2::invert	(	int	width = 160,
		int	height = 120
	)

This will make the image stats inverted (for use with an inverted camera)

This inverts the image, but since ACTS doesn't tell this driver the height or width, you need to provide both of those for the image, default is 160x120.

Parameters

width	the width of the images acts is grabbing (pixels)
height	the height of the images acts is grabbing (pixels)

openPort()

bool ArACTS_1_2::openPort	(	ArRobot *	robot,
		const char *	host = "localhost",
		int	port = 5001
	)

Opens the connection to ACTS.

Opens the port to the ACTS server.

Parameters

robot	the robot to attach this to, which puts a sensorInterp on the robot so that ArACTS will always have fresh data from ACTS... giving a NULL value is perfectly acceptable, in this case ArACTS will not do any processing or requesting and you'll have to use receiveBlobInfo and requestPacket (or just call actsHandler)
port	the port the ACTS server is running on, default of 5001
host	the host the ACTS server is running on, default is localhost (ie this machine)

Returns

true if the connection was established, false otherwise

Examples:

actsColorFollowingExample.cpp.

receiveBlobInfo()

bool ArACTS_1_2::receiveBlobInfo

(

void

)

Gets the blob information from the connection to acts.

Checks the connection to the ACTS server for data, if data is there it fills in the blob information, otherwise just returns false.

Returns

true if there was new data and the data could be read succesfully

requestPacket()

bool ArACTS_1_2::requestPacket

(

void

)

Requests another packet.

Requests a packet from the ACTS server, specifically it sends the request to the acts server over its connection.

Returns

true if the command was sent succesfully, false otherwise

requestQuit()

bool ArACTS_1_2::requestQuit

(

void

)

Requests that ACTS quits.

Sends a command to the ACTS server requesting that ACTS quit.

Returns

true if the request was sent succesfully, false otherwise

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

• ArACTS.h
• ArACTS.cpp