ArLMS2xxPacket Class Reference

#include <ArLMS2xxPacket.h>

Inheritance diagram for ArLMS2xxPacket:

List of all members.

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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.

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.
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).
unsigned char	getSendingAddress (void)
	Sets the address to send this packet to (only use for sending).
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).
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.
Protected Attributes
unsigned char	mySendingAddress
ArTime	myTimeReceived

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Member Function Documentation

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

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

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

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

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

• ArLMS2xxPacket.h
• ArLMS2xxPacket.cpp

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