82 lines
2.7 KiB
C
82 lines
2.7 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 ARROBOTPACKET_H
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#define ARROBOTPACKET_H
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#include "ariaTypedefs.h"
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#include "ArBasePacket.h"
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#include "ariaUtil.h"
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/// Represents the packets sent to the robot as well as those received from it
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/**
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This class reimplements some of the buf operations since the robot is
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opposeite endian from intel. Also has the getID for convenience.
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You can just look at the documentation for the ArBasePacket except for
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the 4 new functions here, verifyCheckSum, getID, print, and calcCheckSum.
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*/
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class ArRobotPacket: public ArBasePacket
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{
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public:
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/// Constructor
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AREXPORT ArRobotPacket(unsigned char sync1 = 0xfa,
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unsigned char sync2 = 0xfb);
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/// Destructor
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AREXPORT virtual ~ArRobotPacket();
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/// Assignment operator
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AREXPORT ArRobotPacket &operator=(const ArRobotPacket &other);
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/// returns true if the checksum matches what it should be
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AREXPORT bool verifyCheckSum(void);
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/// returns the ID of the packet
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AREXPORT ArTypes::UByte getID(void);
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/// Sets the ID of the packet
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AREXPORT void setID(ArTypes::UByte id);
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/// returns the checksum, probably used only internally
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AREXPORT ArTypes::Byte2 calcCheckSum(void);
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// only call finalizePacket before a send
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AREXPORT virtual void finalizePacket(void);
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/// Gets the time the packet was received at
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AREXPORT ArTime getTimeReceived(void);
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/// Sets the time the packet was received at
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AREXPORT void setTimeReceived(ArTime timeReceived);
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AREXPORT virtual void log();
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protected:
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unsigned char mySync1;
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unsigned char mySync2;
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ArTime myTimeReceived;
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};
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#endif // ARROBOTPACKET_H
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