Represents the packets sent to the LMS2xx as well as those received from it. More...

#include <ArLMS2xxPacket.h>

Public Member Functions
	ArLMS2xxPacket (unsigned char sendingAddress=0)
	Constructor.

ArTypes::Byte2	calcCRC (void)
	returns the crc, probably used only internally

virtual void	duplicatePacket (ArLMS2xxPacket *packet)
	Duplicates the packet. More...

virtual void	finalizePacket (void)

ArTypes::UByte	getID (void)
	returns the ID of the packet (first byte of data)

unsigned char	getReceivedAddress (void)
	Gets the address this packet was sent from (only use for receiving) More...

unsigned char	getSendingAddress (void)
	Sets the address to send this packet to (only use for sending) More...

ArTime	getTimeReceived (void)
	Gets the time the packet was received at.

virtual void	resetRead (void)

void	setSendingAddress (unsigned char address)
	Sets the address to send this packet to (only use for sending) More...

void	setTimeReceived (ArTime timeReceived)
	Sets the time the packet was received at.

bool	verifyCRC (void)
	returns true if the crc matches what it should be

virtual	~ArLMS2xxPacket ()
	Destructor.

Public Member Functions inherited from ArBasePacket
	ArBasePacket (ArTypes::UByte2 bufferSize=0, ArTypes::UByte2 headerLength=0, char *buf=NULL, ArTypes::UByte2 footerLength=0)
	Constructor. More...

	ArBasePacket (const ArBasePacket &other)
	Copy constructor.

virtual ArTypes::Byte	bufToByte (void)
	Gets a ArTypes::Byte from the buffer.

virtual ArTypes::Byte2	bufToByte2 (void)
	Gets a ArTypes::Byte2 from the buffer.

virtual ArTypes::Byte4	bufToByte4 (void)
	Gets a ArTypes::Byte4 from the buffer.

virtual void	bufToData (char *data, int length)
	Gets length bytes from buffer and puts them into data. More...

virtual void	bufToData (unsigned char *data, int length)
	Gets length bytes from buffer and puts them into data. More...

virtual void	bufToStr (char *buf, int len)
	Gets a string from the buffer. More...

virtual ArTypes::UByte	bufToUByte (void)
	Gets a ArTypes::UByte from the buffer.

virtual ArTypes::UByte2	bufToUByte2 (void)
	Gets a ArTypes::UByte2 from the buffer.

virtual ArTypes::UByte4	bufToUByte4 (void)
	Gets a ArTypes::UByte4 from the buffer.

virtual void	byte2ToBuf (ArTypes::Byte2 val)
	Puts ArTypes::Byte2 into packets buffer.

virtual void	byte4ToBuf (ArTypes::Byte4 val)
	Puts ArTypes::Byte4 into packets buffer.

virtual void	byteToBuf (ArTypes::Byte val)
	Puts ArTypes::Byte into packets buffer.

virtual void	dataToBuf (const char *data, int length)
	Copies length bytes from data into packet buffer. More...

virtual void	dataToBuf (const unsigned char *data, int length)
	Copies length bytes from data into packet buffer. More...

virtual void	duplicatePacket (ArBasePacket *packet)
	Makes this packet a duplicate of another packet. More...

virtual void	empty (void)
	resets the length for more data to be added More...

virtual const char *	getBuf (void) const
	Gets a const pointer to the buffer the packet uses.

virtual char *	getBuf (void)
	Gets a pointer to the buffer the packet uses.

virtual ArTypes::UByte2	getDataLength (void) const
	Gets the length of the data in the packet.

virtual ArTypes::UByte2	getDataReadLength (void) const
	Gets how far into the data of the packet that has been read.

virtual ArTypes::UByte2	getFooterLength (void) const
	Gets the length of the header.

virtual ArTypes::UByte2	getHeaderLength (void) const
	Gets the length of the header.

virtual ArTypes::UByte2	getLength (void) const
	Gets the total length of the packet.

virtual ArTypes::UByte2	getMaxLength (void) const
	Gets the maximum length packet.

virtual ArTypes::UByte2	getReadLength (void) const
	Gets how far into the packet that has been read.

virtual bool	isValid (void)
	Returns whether the packet is valid, i.e. no error has occurred when reading/writing. More...

virtual void	log (void)
	ArLogs the hex and decimal values of each byte of the packet, and possibly extra metadata as well.

ArBasePacket &	operator= (const ArBasePacket &other)
	Assignment operator.

virtual void	printHex (void)
	ArLogs the hex value of each byte in the packet.

virtual void	resetValid ()
	Resets the valid state of the packet. More...

virtual void	setBuf (char *buf, ArTypes::UByte2 bufferSize)
	Sets the buffer the packet is using.

virtual bool	setHeaderLength (ArTypes::UByte2 length)
	Sets the length of the header.

virtual bool	setLength (ArTypes::UByte2 length)
	Sets the length of the packet.

virtual void	setMaxLength (ArTypes::UByte2 bufferSize)
	Sets the maximum buffer size (if new size is <= current does nothing)

virtual void	setReadLength (ArTypes::UByte2 readLength)
	Sets the read length.

virtual void	strNToBuf (const char *str, int length)
	Copies the given number of bytes from str into packet buffer. More...

virtual void	strToBuf (const char *str)
	Puts a NULL-terminated string into packet buffer. More...

virtual void	strToBufPadded (const char *str, int length)
	Copies length bytes from str, if str ends before length, pads data with 0s. More...

virtual void	uByte2ToBuf (ArTypes::UByte2 val)
	Puts ArTypes::UByte2 into packet buffer.

virtual void	uByte4ToBuf (ArTypes::UByte4 val)
	Puts ArTypes::UByte 4 into packet buffer.

virtual void	uByteToBuf (ArTypes::UByte val)
	Puts ArTypes::UByte into packets buffer.

virtual	~ArBasePacket ()
	Destructor.

Protected Attributes
unsigned char	mySendingAddress

ArTime	myTimeReceived

Protected Attributes inherited from ArBasePacket
char *	myBuf

ArTypes::UByte2	myFooterLength

ArTypes::UByte2	myHeaderLength

bool	myIsValid

ArTypes::UByte2	myLength

ArTypes::UByte2	myMaxLength

bool	myOwnMyBuf

ArTypes::UByte2	myReadLength

Additional Inherited Members
Protected Member Functions inherited from ArBasePacket
bool	hasWriteCapacity (int bytes)
	Returns true if there is enough room in the packet to add the specified number of bytes.

bool	isNextGood (int bytes)

Detailed Description

Represents the packets sent to the LMS2xx as well as those received from it.

This class reimplements some of the buf operations since the robot is little endian.

You can just look at the documentation for the ArBasePacket except for these functions here, setAddress, getAddress, verifyCheckSum, print, getID, and calcCheckSum.

Member Function Documentation

◆ duplicatePacket()

void ArLMS2xxPacket::duplicatePacket ( ArLMS2xxPacket * packet )

virtual

Duplicates the packet.

Copies the given packets buffer into the buffer of this packet, also sets this length and readlength to what the given packet has.

Parameters

packet the packet to duplicate

◆ getReceivedAddress()

unsigned char ArLMS2xxPacket::getReceivedAddress ( void )

Gets the address this packet was sent from (only use for receiving)

This gets the address that this packet was received from.

Note that this is only valid if this packet was received from a laser, if you want to know where a packet was addressed to use getSendingAdress instead.

Returns: the address a packet was received from

◆ getSendingAddress()

unsigned char ArLMS2xxPacket::getSendingAddress ( void )

Sets the address to send this packet to (only use for sending)

This gets the address for use in sending packets, the address is what has been saved, then when a packet is finalizePacketd for sending, the address is put into the appropriate spot in the packet.

Returns: the address of the laser to be addressed

◆ setSendingAddress()

void ArLMS2xxPacket::setSendingAddress ( unsigned char address )

Sets the address to send this packet to (only use for sending)

This sets the address for use in sending packets, the address is saved, then when a packet is finalizePacketd for sending, the address is put into the appropriate spot in the packet.

Parameters

address the address of the laser to be addressed

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

ArLMS2xxPacket.h
ArLMS2xxPacket.cpp

Public Member Functions