Given a device connection this sends commands through it to the robot. More...

#include <ArRobotPacketSender.h>

Public Member Functions
	ArRobotPacketSender (unsigned char sync1=0xfa, unsigned char sync2=0xfb)
	Constructor without an already assigned device connection. More...

	ArRobotPacketSender (ArDeviceConnection *deviceConnection, unsigned char sync1=0xfa, unsigned char sync2=0xfb)
	Constructor with assignment of a device connection. More...

	ArRobotPacketSender (ArDeviceConnection deviceConnection, unsigned char sync1, unsigned char sync2, bool tracking, const char trackingLogName)
	Constructor with assignment of a device connection and tracking. More...

bool	com (unsigned char command)
	Sends a command to the robot with no arguments. More...

bool	com2Bytes (unsigned char command, char high, char low)
	Sends a command to the robot with two bytes for argument. More...

bool	comDataN (unsigned char command, const char *data, int size)
	Sends a command containing exactly the data in the given buffer as argument.

bool	comInt (unsigned char command, short int argument)
	Sends a command to the robot with an int for argument. More...

bool	comStr (unsigned char command, const char *argument)
	Sends a command to the robot with a length-prefixed string for argument. More...

bool	comStrN (unsigned char command, const char *str, int size)
	Sends a command to the robot with a length-prefixed string for argument. More...

ArDeviceConnection *	getDeviceConnection (void)
	Gets the device this instance sends commands to.

bool	sendPacket (ArRobotPacket *packet)
	Sends a ArRobotPacket. More...

void	setDeviceConnection (ArDeviceConnection *deviceConnection)
	Sets the device this instance sends commands to.

void	setPacketSentCallback (ArFunctor1< ArRobotPacket > functor)
	Sets the callback that gets called with the finalized version of every packet set... More...

virtual	~ArRobotPacketSender ()
	Destructor.

Protected Types
enum	{ INTARG = 0x3B, NINTARG = 0x1B, STRARG = 0x2B }

Protected Member Functions
bool	connValid (void)

Protected Attributes
ArDeviceConnection *	myDeviceConn

ArRobotPacket	myPacket

ArFunctor1< ArRobotPacket * > *	myPacketSentCallback

ArMutex	mySendingMutex

bool	myTracking

std::string	myTrackingLogName

Detailed Description

Given a device connection this sends commands through it to the robot.

Constructor & Destructor Documentation

◆ ArRobotPacketSender() [1/3]

ArRobotPacketSender::ArRobotPacketSender	(	unsigned char	sync1 = `0xfa`,
		unsigned char	sync2 = `0xfb`
	)

Constructor without an already assigned device connection.

Use setDeviceConnection() to set the device connection before use.

Parameters

sync1	first byte of the header this sender will send, this should be left as the default in nearly all cases, or it won't work with any production robot. ie don't mess with it
sync2	second byte of the header this sender will send, this should be left as the default in nearly all cases, or it won't work with any production robot. ie don't mess with it

◆ ArRobotPacketSender() [2/3]

ArRobotPacketSender::ArRobotPacketSender	(	ArDeviceConnection *	deviceConnection,
		unsigned char	sync1 = `0xfa`,
		unsigned char	sync2 = `0xfb`
	)

Constructor with assignment of a device connection.

Parameters

deviceConnection	device connection to send packets to
sync1	first byte of the header this sender will send, this should be left as the default in nearly all cases, or it won't work with any production robot. ie don't mess with it
sync2	second byte of the header this sender will send, this should be left as the default in nearly all cases, or it won't work with any production robot. ie don't mess with it

◆ ArRobotPacketSender() [3/3]

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

Constructor with assignment of a device connection and tracking.

Parameters

deviceConnection	device connection to send packets to
sync1	first byte of the header this sender will send, this should be left as the default in nearly all cases, or it won't work with any production robot. ie don't mess with it
sync2	second byte of the header this sender will send, this should be left as the default in nearly all cases, or it won't work with any production robot. ie don't mess with it
tracking	if true write packet-tracking log messages for each packet sent.
trackingLogName	name (packet type) to include in packet-tracking log messages

Member Function Documentation

◆ com()

bool ArRobotPacketSender::com ( unsigned char command )

Sends a command to the robot with no arguments.

Parameters

command the command number to send

Returns: whether the command could be sent or not

◆ com2Bytes()

bool ArRobotPacketSender::com2Bytes	(	unsigned char	command,
		char	high,
		char	low
	)

Sends a command to the robot with two bytes for argument.

Parameters

command	the command number to send
high	the high byte to send with the command
low	the low byte to send with the command

Returns: whether the command could be sent or not

◆ comInt()

bool ArRobotPacketSender::comInt	(	unsigned char	command,
		short int	argument
	)

Sends a command to the robot with an int for argument.

Parameters

command	the command number to send
argument	the integer argument to send with the command

Returns: whether the command could be sent or not

◆ comStr()

bool ArRobotPacketSender::comStr	(	unsigned char	command,
		const char *	argument
	)

Sends a command to the robot with a length-prefixed string for argument.

Sends a length-prefixed string command.

Parameters

command	the command number to send
argument	NULL-terminated string to send with the command

Returns: whether the command could be sent or not

◆ comStrN()

bool ArRobotPacketSender::comStrN	(	unsigned char	command,
		const char *	str,
		int	size
	)

Sends a command to the robot with a length-prefixed string for argument.

Sends a packet containing the given command, and a length-prefixed string containing the specified number of bytes copied from the given source string.

Parameters

command	the command number to send
str	the character array containing data to send with the command
size	number of bytes from the array to send; prefix the string with a byte containing this value as well. this size must be less than the maximum packet size of 200

Returns: whether the command could be sent or not

◆ sendPacket()

bool ArRobotPacketSender::sendPacket ( ArRobotPacket * packet )

Sends a ArRobotPacket.

Sends an ArRobotPacket.

Parameters

packet ArRobotPacket

Returns: whether the command could be sent or not

◆ setPacketSentCallback()

void ArRobotPacketSender::setPacketSentCallback ( 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

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

ArRobotPacketSender.h
ArRobotPacketSender.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ArRobotPacketSender() [1/3]

◆ ArRobotPacketSender() [2/3]

◆ ArRobotPacketSender() [3/3]

Member Function Documentation

◆ com()

◆ com2Bytes()

◆ comInt()

◆ comStr()

◆ comStrN()

◆ sendPacket()

◆ setPacketSentCallback()