Given a device connection it receives packets from the robot through it.
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#include <ArRobotPacketReceiver.h>
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enum | { STATE_SYNC1,
STATE_SYNC2,
STATE_ACQUIRE_DATA
} |
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Given a device connection it receives packets from the robot through it.
ArRobotPacketReceiver::ArRobotPacketReceiver |
( |
bool |
allocatePackets = false , |
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unsigned char |
sync1 = 0xfa , |
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unsigned char |
sync2 = 0xfb |
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) |
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Constructor without an already assigned device connection.
- Parameters
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allocatePackets | whether to allocate memory for the packets before returning them (true) or to just return a pointer to an internal packet (false)... most everything should use false as this will help prevent many memory leaks or corruptions |
sync1 | first byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it |
sync2 | second byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it |
ArRobotPacketReceiver::ArRobotPacketReceiver |
( |
ArDeviceConnection * |
deviceConnection, |
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bool |
allocatePackets = false , |
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unsigned char |
sync1 = 0xfa , |
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unsigned char |
sync2 = 0xfb |
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) |
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Constructor with assignment of a device connection.
- Parameters
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deviceConnection | the connection which the receiver will use |
allocatePackets | whether to allocate memory for the packets before returning them (true) or to just return a pointer to an internal packet (false)... most everything should use false as this will help prevent many memory leaks or corruptions |
sync1 | first byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it |
sync2 | second byte of the header this receiver will receive, this should be left as the default in nearly all cases, ie don't mess with it |
ArRobotPacket * ArRobotPacketReceiver::receivePacket |
( |
unsigned int |
msWait = 0 ) | |
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Receives a packet from the robot if there is one available.
- Parameters
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msWait | how long to block for the start of a packet, nonblocking if 0 |
- Returns
- NULL if there are no packets in alloted time, otherwise a pointer to the packet received, if allocatePackets is true than the place that called this function owns the packet and should delete the packet when done... if allocatePackets is false then nothing must store a pointer to this packet, the packet must be used and done with by the time this method is called again
this case can't happen since c can't be over that so taking it out if (c > 255) { ArLog::log(ArLog::Normal, "ArRobotPacketReceiver::receivePacket: bad packet, more than 255 bytes"); state = STATE_SYNC1; break; }
The documentation for this class was generated from the following files:
- ArRobotPacketReceiver.h
- ArRobotPacketReceiver.cpp