Given a device connection it receives packets from the sick through it. More...

#include <ArLMS2xxPacketReceiver.h>

Public Member Functions
	ArLMS2xxPacketReceiver (unsigned char receivingAddress=0, bool allocatePackets=false, bool useBase0Address=false)
	Constructor without an already assigned device connection.

	ArLMS2xxPacketReceiver (ArDeviceConnection *deviceConnection, unsigned char receivingAddress=0, bool allocatePackets=false, bool useBase0Address=false)
	Constructor with assignment of a 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.

ArLMS2xxPacket *	receivePacket (unsigned int msWait=0)
	Receives a packet from the robot if there is one available. More...

void	setDeviceConnection (ArDeviceConnection *deviceConnection)
	Sets the device this instance receives packets from.

virtual	~ArLMS2xxPacketReceiver ()
	Destructor.

Protected Types
enum	{ STATE_START, STATE_ADDR, STATE_START_COUNT, STATE_ACQUIRE_DATA }

Detailed Description

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

Member Function Documentation

ArLMS2xxPacket * ArLMS2xxPacketReceiver::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

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