102 lines
3.7 KiB
C
102 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 ARROBOTPACKETRECEIVER_H
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#define ARROBOTPACKETRECEIVER_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 it receives packets from the robot through it
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class ArRobotPacketReceiver
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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 ArRobotPacketReceiver(bool allocatePackets = false,
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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
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AREXPORT ArRobotPacketReceiver(ArDeviceConnection *deviceConnection,
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bool allocatePackets = false,
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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 ArRobotPacketReceiver(ArDeviceConnection *deviceConnection,
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bool allocatePackets,
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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 ~ArRobotPacketReceiver();
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/// Receives a packet from the robot if there is one available
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AREXPORT ArRobotPacket *receivePacket(unsigned int msWait = 0);
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/// Sets the device this instance receives packets from
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AREXPORT void setDeviceConnection(ArDeviceConnection *deviceConnection);
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/// Gets the device this instance receives packets from
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AREXPORT ArDeviceConnection *getDeviceConnection(void);
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/// Gets whether or not the receiver is allocating packets
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AREXPORT bool isAllocatingPackets(void) { return myAllocatePackets; }
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/// Sets whether or not the receiver is allocating packets
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AREXPORT void setAllocatingPackets(bool allocatePackets)
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{ myAllocatePackets = allocatePackets; }
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#ifdef DEBUG_SPARCS_TESTING
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AREXPORT void setSync1(unsigned char s1) { mySync1 = s1; }
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AREXPORT void setSync2(unsigned char s2) { mySync2 = s2; }
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#endif
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AREXPORT void setTracking(bool tracking)
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{ myTracking = tracking; }
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AREXPORT void setTrackingLogName(const char *trackingLogName)
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{ myTrackingLogName = trackingLogName; }
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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 setPacketReceivedCallback(ArFunctor1<ArRobotPacket *> *functor);
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protected:
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ArDeviceConnection *myDeviceConn;
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bool myTracking;
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std::string myTrackingLogName;
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bool myAllocatePackets;
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ArRobotPacket myPacket;
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enum { STATE_SYNC1, STATE_SYNC2, STATE_ACQUIRE_DATA };
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unsigned char mySync1;
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unsigned char mySync2;
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ArFunctor1<ArRobotPacket *> *myPacketReceivedCallback;
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};
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#endif // ARROBOTPACKETRECEIVER_H
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