ArRobotPacketSender Class Reference

#include <ArRobotPacketSender.h>

List of all members.

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Detailed Description

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

Public Member Functions
	ArRobotPacketSender (ArDeviceConnection *deviceConnection, unsigned char sync1=0xfa, unsigned char sync2=0xfb)
	Constructor with assignment of a device connection.
	ArRobotPacketSender (unsigned char sync1=0xfa, unsigned char sync2=0xfb)
	Constructor without an already assigned device connection.
bool	com (unsigned char command)
	Sends a command to the robot with no arguments.
bool	com2Bytes (unsigned char command, char high, char low)
	Sends a command to the robot with two bytes for argument.
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.
bool	comStr (unsigned char command, const char *argument)
	Sends a command to the robot with a length-prefixed string for argument.
bool	comStrN (unsigned char command, const char *str, int size)
	Sends a command to the robot with a length-prefixed string for argument.
ArDeviceConnection *	getDeviceConnection (void)
	Gets the device this instance sends commands to.
void	setDeviceConnection (ArDeviceConnection *deviceConnection)
	Sets the device this instance sends commands to.
virtual	~ArRobotPacketSender ()
	Destructor.
Protected Types
enum	{ INTARG = 0x3B, NINTARG = 0x1B, STRARG = 0x2B }
Protected Member Functions
bool	connValid (void)
Protected Attributes
ArDeviceConnection *	myDeviceConn
ArRobotPacket	myPacket

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Constructor & Destructor Documentation

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::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

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Member Function Documentation

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

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

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

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

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

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

• ArRobotPacketSender.h
• ArRobotPacketSender.cpp

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