102 lines
3.7 KiB
C++
102 lines
3.7 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 ARROBOTPACKETRECEIVER_H
|
|
#define ARROBOTPACKETRECEIVER_H
|
|
|
|
#include "ariaTypedefs.h"
|
|
#include "ArRobotPacket.h"
|
|
|
|
|
|
class ArDeviceConnection;
|
|
|
|
/// Given a device connection it receives packets from the robot through it
|
|
class ArRobotPacketReceiver
|
|
{
|
|
public:
|
|
/// Constructor without an already assigned device connection
|
|
AREXPORT ArRobotPacketReceiver(bool allocatePackets = false,
|
|
unsigned char sync1 = 0xfa,
|
|
unsigned char sync2 = 0xfb);
|
|
/// Constructor with assignment of a device connection
|
|
AREXPORT ArRobotPacketReceiver(ArDeviceConnection *deviceConnection,
|
|
bool allocatePackets = false,
|
|
unsigned char sync1 = 0xfa,
|
|
unsigned char sync2 = 0xfb);
|
|
/// Constructor with assignment of a device connection and tracking
|
|
AREXPORT ArRobotPacketReceiver(ArDeviceConnection *deviceConnection,
|
|
bool allocatePackets,
|
|
unsigned char sync1,
|
|
unsigned char sync2,
|
|
bool tracking,
|
|
const char *trackingLogName);
|
|
/// Destructor
|
|
AREXPORT virtual ~ArRobotPacketReceiver();
|
|
|
|
/// Receives a packet from the robot if there is one available
|
|
AREXPORT ArRobotPacket *receivePacket(unsigned int msWait = 0);
|
|
|
|
/// Sets the device this instance receives packets from
|
|
AREXPORT void setDeviceConnection(ArDeviceConnection *deviceConnection);
|
|
/// Gets the device this instance receives packets from
|
|
AREXPORT ArDeviceConnection *getDeviceConnection(void);
|
|
|
|
/// Gets whether or not the receiver is allocating packets
|
|
AREXPORT bool isAllocatingPackets(void) { return myAllocatePackets; }
|
|
/// Sets whether or not the receiver is allocating packets
|
|
AREXPORT void setAllocatingPackets(bool allocatePackets)
|
|
{ myAllocatePackets = allocatePackets; }
|
|
|
|
#ifdef DEBUG_SPARCS_TESTING
|
|
AREXPORT void setSync1(unsigned char s1) { mySync1 = s1; }
|
|
AREXPORT void setSync2(unsigned char s2) { mySync2 = s2; }
|
|
#endif
|
|
|
|
AREXPORT void setTracking(bool tracking)
|
|
{ myTracking = tracking; }
|
|
|
|
AREXPORT void setTrackingLogName(const char *trackingLogName)
|
|
{ myTrackingLogName = trackingLogName; }
|
|
|
|
/// Sets the callback that gets called with the finalized version of
|
|
/// every packet set... this is ONLY for very internal very
|
|
/// specialized use
|
|
AREXPORT void setPacketReceivedCallback(ArFunctor1<ArRobotPacket *> *functor);
|
|
protected:
|
|
ArDeviceConnection *myDeviceConn;
|
|
bool myTracking;
|
|
std::string myTrackingLogName;
|
|
|
|
bool myAllocatePackets;
|
|
ArRobotPacket myPacket;
|
|
enum { STATE_SYNC1, STATE_SYNC2, STATE_ACQUIRE_DATA };
|
|
unsigned char mySync1;
|
|
unsigned char mySync2;
|
|
|
|
ArFunctor1<ArRobotPacket *> *myPacketReceivedCallback;
|
|
};
|
|
|
|
#endif // ARROBOTPACKETRECEIVER_H
|