ArRobotPacketReceiver Class Reference

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

#include <ArRobotPacketReceiver.h>

Public Member Functions
	ArRobotPacketReceiver (bool allocatePackets=false, unsigned char sync1=0xfa, unsigned char sync2=0xfb)
	Constructor without an already assigned device connection. More...
	ArRobotPacketReceiver (ArDeviceConnection *deviceConnection, bool allocatePackets=false, unsigned char sync1=0xfa, unsigned char sync2=0xfb)
	Constructor with assignment of a device connection. More...
	ArRobotPacketReceiver (ArDeviceConnection *deviceConnection, bool allocatePackets, unsigned char sync1, unsigned char sync2, bool tracking, const char *trackingLogName)
	Constructor with assignment of a device connection and tracking. More...
ArDeviceConnection *	getDeviceConnection (void)
	Gets the device this instance receives packets from.
bool	isAllocatingPackets (void)
	Gets whether or not the receiver is allocating packets.
ArRobotPacket *	receivePacket (unsigned int msWait=0)
	Receives a packet from the robot if there is one available. More...
void	setAllocatingPackets (bool allocatePackets)
	Sets whether or not the receiver is allocating packets.
void	setDeviceConnection (ArDeviceConnection *deviceConnection)
	Sets the device this instance receives packets from.
void	setPacketReceivedCallback (ArFunctor1< ArRobotPacket *> *functor)
	Sets the callback that gets called with the finalized version of every packet set... More...
void	setTracking (bool tracking)
void	setTrackingLogName (const char *trackingLogName)
virtual	~ArRobotPacketReceiver ()
	Destructor.

Protected Types
enum	{ STATE_SYNC1, STATE_SYNC2, STATE_ACQUIRE_DATA }

Protected Attributes
bool	myAllocatePackets
ArDeviceConnection *	myDeviceConn
ArRobotPacket	myPacket
ArFunctor1< ArRobotPacket * > *	myPacketReceivedCallback
unsigned char	mySync1
unsigned char	mySync2
bool	myTracking
std::string	myTrackingLogName

Detailed Description

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

Constructor & Destructor Documentation

ArRobotPacketReceiver() [1/3]

ArRobotPacketReceiver::ArRobotPacketReceiver	(	bool	allocatePackets = false,
		unsigned char	sync1 = 0xfa,
		unsigned char	sync2 = 0xfb
	)

Constructor without an already assigned device connection.

Parameters

allocatePackets	whether to allocate memory for the packets before returning them (true) or to just return a pointer to an internal packet (false)... most everything should use false as this will help prevent many memory leaks or corruptions
sync1	first byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it
sync2	second byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it

ArRobotPacketReceiver() [2/3]

ArRobotPacketReceiver::ArRobotPacketReceiver	(	ArDeviceConnection *	deviceConnection,
		bool	allocatePackets = false,
		unsigned char	sync1 = 0xfa,
		unsigned char	sync2 = 0xfb
	)

Constructor with assignment of a device connection.

Parameters

deviceConnection	the connection which the receiver will use
allocatePackets	whether to allocate memory for the packets before returning them (true) or to just return a pointer to an internal packet (false)... most everything should use false as this will help prevent many memory leaks or corruptions
sync1	first byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it
sync2	second byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it

ArRobotPacketReceiver() [3/3]

ArRobotPacketReceiver::ArRobotPacketReceiver	(	ArDeviceConnection *	deviceConnection,
		bool	allocatePackets,
		unsigned char	sync1,
		unsigned char	sync2,
		bool	tracking,
		const char *	trackingLogName
	)

Constructor with assignment of a device connection and tracking.

Parameters

deviceConnection	the connection which the receiver will use
allocatePackets	whether to allocate memory for the packets before returning them (true) or to just return a pointer to an internal packet (false)... most everything should use false as this will help prevent many memory leaks or corruptions
sync1	first byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it
sync2	second byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it
tracking	if true write log messages for packets received
trackingLogName	name to include for packets with tracking log messages

Member Function Documentation

receivePacket()

ArRobotPacket * ArRobotPacketReceiver::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

this case can't happen since c can't be over that so taking it out if (c > 255) { ArLog::log(ArLog::Normal, "ArRobotPacketReceiver::receivePacket: bad packet, more than 255 bytes"); state = STATE_SYNC1; break; }

setPacketReceivedCallback()

void ArRobotPacketReceiver::setPacketReceivedCallback

(

ArFunctor1< ArRobotPacket *> *

functor

)

Sets the callback that gets called with the finalized version of every packet set...

this is ONLY for very internal very specialized use

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

• ArRobotPacketReceiver.h
• ArRobotPacketReceiver.cpp