ArDeviceConnection Class Reference

Base class for device connections. More...

#include <ArDeviceConnection.h>

Inherited by ArLogFileConnection, ArSerialConnection, and ArTcpConnection.

Public Types
enum	Status {   STATUS_NEVER_OPENED = 1, STATUS_OPEN, STATUS_OPEN_FAILED, STATUS_CLOSED_NORMALLY,   STATUS_CLOSED_ERROR }

Public Member Functions
	ArDeviceConnection ()
	constructor More...
virtual bool	close (void)
	Closes the connection. More...
void	debugBytesRead (int bytesRead)
	Notifies the device connection that some bytes were read (should call with 0 if it read but got no bytes)
void	debugEndPacket (bool goodPacket, int type=0)
	Notifies the device connection that the end of a packet was read, which will cause log messages if set to do so.
void	debugStartPacket (void)
	Notifies the device connection that the start of a packet is trying to be read.
const char *	getDeviceName (void) const
	Gets the device type (what this is connecting to)
virtual const char *	getOpenMessage (int messageNumber)=0
	Gets the string of the message associated with opening the device. More...
const char *	getPortName (void) const
	Gets the port name.
const char *	getPortType (void) const
	Gets the port type.
virtual int	getStatus (void)=0
	Gets the status of the connection, which is one of the enum status. More...
const char *	getStatusMessage (int messageNumber) const
	Gets the description string associated with the status. More...
virtual ArTime	getTimeRead (int index)=0
	Gets the time data was read in. More...
virtual bool	isTimeStamping (void)=0
	sees if timestamping is really going on or not More...
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. More...
void	setDeviceName (const char *deviceName)
	Sets the device type (what this is connecting to)
virtual int	write (const char *data, unsigned int size)=0
	Writes data to connection. More...
virtual int	writePacket (ArBasePacket *packet)
	Writes data to connection. More...
virtual	~ArDeviceConnection ()
	destructor also forces a close on the connection

Static Public Member Functions
static bool	debugShouldLog (bool shouldLog)
	Makes all device connections so that they'll dump data.

Protected Member Functions
void	buildStrMap (void)
void	setPortName (const char *portName)
	Sets the port name.
void	setPortType (const char *portType)
	Sets the port type.

Protected Attributes
int	myDCDebugBytesRead
ArTime	myDCDebugFirstByteTime
ArTime	myDCDebugLastByteTime
long long	myDCDebugNumBadPackets
long long	myDCDebugNumGoodPackets
bool	myDCDebugPacketStarted
ArTime	myDCDebugStartTime
int	myDCDebugTimesRead
std::string	myDCDeviceName
std::string	myDCPortName
std::string	myDCPortType

Static Protected Attributes
static ArTime	ourDCDebugFirstTime
static bool	ourDCDebugShouldLog = false
static ArStrMap	ourStrMap
static bool	ourStrMapInited = false

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

Member Enumeration Documentation

Status

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.

Constructor & Destructor Documentation

ArDeviceConnection()

ArDeviceConnection::ArDeviceConnection

(

)

constructor

Subclasses of this connection type should call setDCPortType in their constructor, then setDCPortName in their openPort.

Classes that use a device connection should call setDCDeviceName with the device the connection is attached too (usually in setDeviceConnection on the device)...

Things that read the port should call debugStartPacket whenever they are starting reading a packet... Then debugBytesRead with the byte count whenever they read or fail a read (0 if a read is failed)... Then debugEndPacket with a boolean for if the packet was a good one or a bad one and an integer that's postive for the type of packet (if successful) or negative to express why the read failed (if not successful). For the 'why the read failed' the values should be negative, and should all be unique (anywhere a read can return), preferably with a gap between the values, so that if more debugging is needed there are values in between the ones already there. Generally this information isn't used or computed, unless the global member ArDeviceConnection::debugShouldLog is called to turn it on.

Member Function Documentation

close()

virtual bool ArDeviceConnection::close ( void  )

inlinevirtual

Closes the connection.

Returns

whether the close succeeded or not

getOpenMessage()

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

getStatus()

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

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

getTimeRead()

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

isTimeStamping()

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

read()

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

write()

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

writePacket()

virtual int ArDeviceConnection::writePacket ( ArBasePacket *  packet )

inlinevirtual

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

---

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

• ArDeviceConnection.h
• ArDeviceConnection.cpp