94 lines
3.0 KiB
C
94 lines
3.0 KiB
C
|
/*
|
||
|
|
Adept MobileRobots Robotics Interface for Applications (ARIA)
|
||
|
|
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
|
||
|
|
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
|
||
|
|
Copyright (C) 2011, 2012, 2013 Adept Technology
|
||
|
|
|
||
|
|
This program is free software; you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation; either version 2 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
This program is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program; if not, write to the Free Software
|
||
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
|
|
|
||
|
|
If you wish to redistribute ARIA under different terms, contact
|
||
|
|
Adept MobileRobots for information about a commercial version of ARIA at
|
||
|
|
robots@mobilerobots.com or
|
||
|
|
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
|
||
|
|
*/
|
||
|
|
#ifndef ARLOGFILECONNECTION_H
|
||
|
|
#define ARLOGFILECONNECTION_H
|
||
|
|
|
||
|
|
#include "ArDeviceConnection.h"
|
||
|
|
#include <string>
|
||
|
|
#include <stdio.h>
|
||
|
|
|
||
|
|
#include "ariaTypedefs.h"
|
||
|
|
|
||
|
|
/// For connecting through a log file
|
||
|
|
class ArLogFileConnection: public ArDeviceConnection
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// Constructor
|
||
|
|
AREXPORT ArLogFileConnection();
|
||
|
|
/// Destructor also closes connection
|
||
|
|
AREXPORT virtual ~ArLogFileConnection();
|
||
|
|
|
||
|
|
/// Opens a connection to the given host and port
|
||
|
|
AREXPORT int open(const char * fname = NULL);
|
||
|
|
|
||
|
|
AREXPORT void setLogFile(const char *fname = NULL);
|
||
|
|
AREXPORT virtual bool openSimple(void);
|
||
|
|
AREXPORT virtual int getStatus(void);
|
||
|
|
AREXPORT virtual bool close(void);
|
||
|
|
AREXPORT virtual int read(const char *data, unsigned int size,
|
||
|
|
unsigned int msWait = 0);
|
||
|
|
AREXPORT virtual int write(const char *data, unsigned int size);
|
||
|
|
AREXPORT virtual const char * getOpenMessage(int messageNumber);
|
||
|
|
AREXPORT virtual ArTime getTimeRead(int index);
|
||
|
|
AREXPORT virtual bool isTimeStamping(void);
|
||
|
|
|
||
|
|
/// Gets the name of the host connected to
|
||
|
|
AREXPORT const char *getLogFile(void);
|
||
|
|
|
||
|
|
/* This doens't exist in the C++ file so I'm commenting it out
|
||
|
|
/// Gets the initial pose of the robot
|
||
|
|
AREXPORT ArPose getLogPose(void);
|
||
|
|
*/
|
||
|
|
|
||
|
|
/// Internal function used by open and openSimple
|
||
|
|
AREXPORT int internalOpen(void);
|
||
|
|
|
||
|
|
enum Open {
|
||
|
|
OPEN_FILE_NOT_FOUND = 1, ///< Can't find the file
|
||
|
|
OPEN_NOT_A_LOG_FILE ///< Doesn't look like a log file
|
||
|
|
};
|
||
|
|
|
||
|
|
// robot parameters
|
||
|
|
ArPose myPose;
|
||
|
|
bool havePose;
|
||
|
|
char myName[100];
|
||
|
|
char myType[20];
|
||
|
|
char mySubtype[20];
|
||
|
|
|
||
|
|
protected:
|
||
|
|
void buildStrMap(void);
|
||
|
|
ArStrMap myStrMap;
|
||
|
|
|
||
|
|
int myStatus;
|
||
|
|
int stopAfter; // temp here for returning one packet at a time
|
||
|
|
|
||
|
|
const char *myLogFile;
|
||
|
|
FILE *myFD; // file descriptor
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //ARLOGFILECONNECTION_H
|