96 lines
3.7 KiB
C
96 lines
3.7 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARROBOTPACKETSENDER_H
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#define ARROBOTPACKETSENDER_H
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#include "ariaTypedefs.h"
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#include "ArRobotPacket.h"
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class ArDeviceConnection;
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/// Given a device connection this sends commands through it to the robot
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class ArRobotPacketSender
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{
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public:
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/// Constructor without an already assigned device connection
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AREXPORT ArRobotPacketSender(unsigned char sync1 = 0xfa,
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unsigned char sync2 = 0xfb);
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/// Constructor with assignment of a device connection
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AREXPORT ArRobotPacketSender(ArDeviceConnection *deviceConnection,
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unsigned char sync1 = 0xfa,
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unsigned char sync2 = 0xfb);
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/// Constructor with assignment of a device connection and tracking
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AREXPORT ArRobotPacketSender(ArDeviceConnection *deviceConnection,
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unsigned char sync1,
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unsigned char sync2,
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bool tracking,
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const char *trackingLogName);
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/// Destructor
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AREXPORT virtual ~ArRobotPacketSender();
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/// Sends a command to the robot with no arguments
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AREXPORT bool com(unsigned char command);
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/// Sends a command to the robot with an int for argument
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AREXPORT bool comInt(unsigned char command, short int argument);
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/// Sends a command to the robot with two bytes for argument
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AREXPORT bool com2Bytes(unsigned char command, char high, char low);
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/// Sends a command to the robot with a length-prefixed string for argument
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AREXPORT bool comStr(unsigned char command, const char *argument);
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/// Sends a command to the robot with a length-prefixed string for argument
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AREXPORT bool comStrN(unsigned char command, const char *str, int size);
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/// Sends a command containing exactly the data in the given buffer as argument
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AREXPORT bool comDataN(unsigned char command, const char *data, int size);
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/// Sends a ArRobotPacket
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AREXPORT bool sendPacket(ArRobotPacket *packet);
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/// Sets the device this instance sends commands to
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AREXPORT void setDeviceConnection(ArDeviceConnection *deviceConnection);
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/// Gets the device this instance sends commands to
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AREXPORT ArDeviceConnection *getDeviceConnection(void);
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/// Sets the callback that gets called with the finalized version of
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/// every packet set... this is ONLY for very internal very
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/// specialized use
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AREXPORT void setPacketSentCallback(ArFunctor1<ArRobotPacket *> *functor);
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protected:
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bool connValid(void);
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ArDeviceConnection * myDeviceConn;
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ArRobotPacket myPacket;
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bool myTracking;
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std::string myTrackingLogName;
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ArMutex mySendingMutex;
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ArFunctor1<ArRobotPacket *> *myPacketSentCallback;
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enum { INTARG = 0x3B, NINTARG = 0x1B, STRARG = 0x2B };
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};
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#endif //ARROBOTPACKETSENDER_H
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