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