97 lines
3.3 KiB
C
97 lines
3.3 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 ARTCPCONNECTION_H
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#define ARTCPCONNECTION_H
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#include "ArDeviceConnection.h"
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#include <string>
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#include "ariaTypedefs.h"
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#include "ArSocket.h"
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/// For connecting to a device through a TCP network socket
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/// @ingroup UtilityClasses
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class ArTcpConnection: public ArDeviceConnection
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{
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public:
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/// Constructor
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AREXPORT ArTcpConnection();
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/// Destructor also closes connection
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AREXPORT virtual ~ArTcpConnection();
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/// Opens a connection to the given host and port
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AREXPORT int open(const char * host = NULL, int port = 8101);
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AREXPORT void setPort(const char *host = NULL, int port = 8101);
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AREXPORT virtual bool openSimple(void);
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AREXPORT virtual int getStatus(void);
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AREXPORT virtual bool close(void);
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AREXPORT virtual int read(const char *data, unsigned int size,
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unsigned int msWait = 0);
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AREXPORT virtual int write(const char *data, unsigned int size);
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AREXPORT virtual const char * getOpenMessage(int messageNumber);
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AREXPORT virtual ArTime getTimeRead(int index);
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AREXPORT virtual bool isTimeStamping(void);
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/// Gets the name of the host connected to
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AREXPORT std::string getHost(void);
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/// Gets the number of the port connected to
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AREXPORT int getPort(void);
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/// Internal function used by open and openSimple
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AREXPORT int internalOpen(void);
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/// Sets the tcp connection to use this socket instead of its own
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AREXPORT void setSocket(ArSocket *socket);
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/// Gets the socket this tcp connection is using
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AREXPORT ArSocket *getSocket(void);
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/// Sets the status of the device, ONLY use this if you're playing
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/// with setSocket and know what you're doing
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AREXPORT void setStatus(int status);
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enum Open {
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OPEN_NET_FAIL = 1, ///< Some critical part of the network isn't working
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OPEN_BAD_HOST, ///< Could not find the host
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OPEN_NO_ROUTE, ///< Know where the host is, but can't get to it
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OPEN_CON_REFUSED ///< Got to the host but it didn't allow a connection
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};
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protected:
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void buildStrMap(void);
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ArStrMap myStrMap;
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bool myOwnSocket;
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ArSocket *mySocket;
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int myStatus;
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std::string myHostName;
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int myPortNum;
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};
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#endif //ARTCPCONNECTION_H
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