ArTcpConnection Class Reference

For connecting to a device through a TCP network socket. More...

#include <ArTcpConnection.h>

Inherits ArDeviceConnection.

Public Types
enum	Open { OPEN_NET_FAIL = 1, OPEN_BAD_HOST, OPEN_NO_ROUTE, OPEN_CON_REFUSED }
Public Types inherited from ArDeviceConnection
enum	Status {   STATUS_NEVER_OPENED = 1, STATUS_OPEN, STATUS_OPEN_FAILED, STATUS_CLOSED_NORMALLY,   STATUS_CLOSED_ERROR }

Public Member Functions
	ArTcpConnection ()
	Constructor.
virtual bool	close (void)
std::string	getHost (void)
	Gets the name of the host connected to. More...
virtual const char *	getOpenMessage (int messageNumber)
int	getPort (void)
	Gets the number of the port connected to. More...
ArSocket *	getSocket (void)
	Gets the socket this tcp connection is using.
virtual int	getStatus (void)
virtual ArTime	getTimeRead (int index)
int	internalOpen (void)
	Internal function used by open and openSimple.
virtual bool	isTimeStamping (void)
int	open (const char *host=NULL, int port=8101)
	Opens a connection to the given host and port. More...
virtual bool	openSimple (void)
virtual int	read (const char *data, unsigned int size, unsigned int msWait=0)
void	setPort (const char *host=NULL, int port=8101)
void	setSocket (ArSocket *socket)
	Sets the tcp connection to use this socket instead of its own. More...
void	setStatus (int status)
	Sets the status of the device, ONLY use this if you're playing with setSocket and know what you're doing.
virtual int	write (const char *data, unsigned int size)
virtual	~ArTcpConnection ()
	Destructor also closes connection.
Public Member Functions inherited from ArDeviceConnection
	ArDeviceConnection ()
	constructor 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)
const char *	getPortName (void) const
	Gets the port name.
const char *	getPortType (void) const
	Gets the port type.
const char *	getStatusMessage (int messageNumber) const
	Gets the description string associated with the status. More...
void	setDeviceName (const char *deviceName)
	Sets the device type (what this is connecting to)
virtual int	writePacket (ArBasePacket *packet)
	Writes data to connection. More...
virtual	~ArDeviceConnection ()
	destructor also forces a close on the connection

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

Protected Attributes
std::string	myHostName
bool	myOwnSocket
int	myPortNum
ArSocket *	mySocket
int	myStatus
ArStrMap	myStrMap
Protected Attributes inherited from ArDeviceConnection
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

Additional Inherited Members
Static Public Member Functions inherited from ArDeviceConnection
static bool	debugShouldLog (bool shouldLog)
	Makes all device connections so that they'll dump data.
Static Protected Attributes inherited from ArDeviceConnection
static ArTime	ourDCDebugFirstTime
static bool	ourDCDebugShouldLog = false
static ArStrMap	ourStrMap
static bool	ourStrMapInited = false

Detailed Description

For connecting to a device through a TCP network socket.

Member Enumeration Documentation

Open

enum ArTcpConnection::Open

Enumerator
OPEN_NET_FAIL	Some critical part of the network isn't working.
OPEN_BAD_HOST	Could not find the host.
OPEN_NO_ROUTE	Know where the host is, but can't get to it.
OPEN_CON_REFUSED	Got to the host but it didn't allow a connection.

Member Function Documentation

getHost()

std::string ArTcpConnection::getHost

(

void

)

Gets the name of the host connected to.

Returns

the name of the host connected to

See also

getPort

getPort()

int ArTcpConnection::getPort

(

void

)

Gets the number of the port connected to.

Returns

the number of the port connected to

See also

getHost

open()

int ArTcpConnection::open	(	const char *	host = NULL,
		int	port = 8101
	)

Opens a connection to the given host and port.

Parameters

host	the hostname or IP address to connect to, if NULL (default) then localhost
port	the port to connect to. (the default port, 8101, is the TCP port number used by the wireless bridge device and by the simulator for robot connection)

Returns

0 for success, otherwise one of the open enums

See also

getOpenMessage

setSocket()

void ArTcpConnection::setSocket

(

ArSocket *

socket

)

Sets the tcp connection to use this socket instead of its own.

This will make the connection use this socket, its useful for doing funkier things with sockets but still being able to use a device connection.

Parameters

socket

the socket to use

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

• ArTcpConnection.h
• ArTcpConnection.cpp