72 lines
2.8 KiB
C
72 lines
2.8 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 ARLMS2XXPACKETRECEIVER_H
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#define ARLMS2XXPACKETRECEIVER_H
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#include "ariaTypedefs.h"
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#include "ArDeviceConnection.h"
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#include "ArLMS2xxPacket.h"
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/// Given a device connection it receives packets from the sick through it
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class ArLMS2xxPacketReceiver
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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 ArLMS2xxPacketReceiver(unsigned char receivingAddress = 0,
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bool allocatePackets = false,
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bool useBase0Address = false);
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/// Constructor with assignment of a device connection
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AREXPORT ArLMS2xxPacketReceiver(ArDeviceConnection *deviceConnection,
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unsigned char receivingAddress = 0,
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bool allocatePackets = false,
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bool useBase0Address = false);
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/// Destructor
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AREXPORT virtual ~ArLMS2xxPacketReceiver();
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/// Receives a packet from the robot if there is one available
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AREXPORT ArLMS2xxPacket *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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protected:
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ArDeviceConnection *myDeviceConn;
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bool myAllocatePackets;
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ArLMS2xxPacket myPacket;
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unsigned char myReceivingAddress;
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bool myUseBase0Address;
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enum { STATE_START, STATE_ADDR, STATE_START_COUNT, STATE_ACQUIRE_DATA };
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};
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typedef ArLMS2xxPacketReceiver ArSickPacketReceiver;
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#endif // ARSICKPACKETRECEIVER_H
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