ArDeviceConnection Class 参考_ar device = (function(u){-CSDN博客

本文介绍ArDeviceConnection类，这是用于连接机器人或模拟器的基础类。文章涵盖了类的构造与析构、读写操作、状态获取等功能，并解释了如何通过继承来实现具体的连接逻辑。

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ArDeviceConnection Class 参考

Base class for device connections. 更多...

#include <ArDeviceConnection.h>

继承树—— ArDeviceConnection::

成员列表.

公有类型
enum	Status { STATUS_NEVER_OPENED = 1, STATUS_OPEN, STATUS_OPEN_FAILED, STATUS_CLOSED_NORMALLY, STATUS_CLOSED_ERROR }
公有方法
	ArDeviceConnection (void)
	构造函数.
virtual	~ArDeviceConnection (void)
	析构函数/强制关闭连接 .
virtual int	read (const char *data, unsigned int size, unsigned int msWait=0)=0
	从连接读数据 . 更多...
virtual int	write (const char *data, unsigned int size)=0
	从连接读数据 . 更多...
virtual int	getStatus (void)=0
	获取连接的状态 . 更多...
std::string	getStatusMessage (int messageNumber)
	获取状态相关的描述 . 更多...
virtual bool	openSimple (void)=0
	用setLocation给与的参数重新打开连接.
virtual bool	close (void)
	关闭连接. 更多...
virtual std::string	getOpenMessage (int messageNumber)=0
	获取设备相关消息字符串 . 更多...
virtual ArTime	getTimeRead (int index)=0
	获取读进来的时间数据. 更多...
virtual bool	isTimeStamping (void)=0
	判断时间戳是否有效 . 更多...

详细介绍

此类是device connections的基础类

最主要使用在连接机器人或者模拟器上的，但是也可以用来连接到激光传感器或其他设备。

注意：这是一个基类，所以在实际中，我们会用到一些继承自该类的类；同样，得注意到在这些类里面我们有用来设置连接位置的setPort；继承的类同样含有返回更详细信息的open函数，该函数需要关于连接位置的参数。

成员枚举变量——文档

enum ArDeviceConnection::Status

Enumeration values:

STATUS_NEVER_OPENED	从没有打开连接
STATUS_OPEN	当前已经打开连接
STATUS_OPEN_FAILED	尝试打开连接，但是失败
STATUS_CLOSED_NORMALLY	被Close函数关闭连接
STATUS_CLOSED_ERROR	因为错误而关闭连接

成员函数文档

virtual bool ArDeviceConnection::close ( void ) [inline, virtual]

关闭连接

返回值：

关闭函数close成功与否

在类 ArSerialConnection, 和 ArTcpConnection 中重新实现。

virtual std::string ArDeviceConnection::getOpenMessage ( int messageNumber ) [pure virtual]

获取打开设备相关的消息字符串

Each class inherited from this one has an open method which returns 0 for success or an integer which can be passed into this function to obtain a string describing the reason for failure

参数：

messageNumber

函数open的返回值

返回值：

messageNumber 所关联的错误描述

在类 ArSerialConnection, 和 ArTcpConnection 中重新实现。

virtual int ArDeviceConnection::getStatus ( void ) [pure virtual]

获取当前连接的状态

获取当前连接的状态，状态值在列表变量之中定义。如果需要得到状态之相关的字符串描述，请使用getStatusMessage函数

返回值：

连接的状态

相关函数：

getStatusMessage

在类 ArSerialConnection, 和 ArTcpConnection 中重新实现。

std::string ArDeviceConnection::getStatusMessage

(

int

messageNumber

)

获取状态相关的描述字符串

参数：

messageNumber

希望返回描述字符串的的状态码

返回值：

参数状态的描述字符串

相关函数：

getStatus

virtual ArTime ArDeviceConnection::getTimeRead ( int index ) [pure virtual]

获取得到数据的时刻

参数：

index

looks like this is the index back in the number of bytes last read in

返回值：

最后数据读入的时刻

在类 ArSerialConnection, 和 ArTcpConnection 中重新实现。

virtual bool ArDeviceConnection::isTimeStamping ( void ) [pure virtual]

测试是否存在有效时间戳。

返回值：

时间戳有效返回true，无效返回false

在类 ArSerialConnection, 和 ArTcpConnection 中重新实现。

virtual int ArDeviceConnection::read	(	const char *	data,
		unsigned int	size,
		unsigned int	msWait = 0
	)	`[pure virtual]`

自连接中读取数据

参数：

data	指向保存读取数据的字符列表的指针
size	读取数据的字符最大数目
msWait	读取数据延迟——等待时间 (not at all for < 0)

返回值：

读取数据的字符数，或者读取失败的话返回 -1

相关函数：

write

在类 ArSerialConnection, 和 ArTcpConnection 中重新实现。

virtual int ArDeviceConnection::write	(	const char *	data,
		unsigned int	size
	)	`[pure virtual]`

向连接写数据

参数：

data	指向待传输数据——字符队列的指针
size	待传输数据的大小

返回值：

传输字符的数目，或者传输失败则返回-1

相关函数：

read

在类 ArSerialConnection, 和 ArTcpConnection 中重新实现。

该文档产生自下列文件：

ArDeviceConnection.h
ArDeviceConnection.cpp

原文：

Main Page Class Hierarchy Compound List Compound Members

ArDeviceConnection Class Reference

Base class for device connections. More...

#include <ArDeviceConnection.h>

Inheritance diagram for ArDeviceConnection::

List of all members.

Public Types
enum	Status { STATUS_NEVER_OPENED = 1, STATUS_OPEN, STATUS_OPEN_FAILED, STATUS_CLOSED_NORMALLY, STATUS_CLOSED_ERROR }
Public Methods
	ArDeviceConnection (void)
	constructor.
virtual	~ArDeviceConnection (void)
	destructor also forces a close on the connection.
virtual int	read (const char *data, unsigned int size, unsigned int msWait=0)=0
	Reads data from connection. More...
virtual int	write (const char *data, unsigned int size)=0
	Writes data to connection. More...
virtual int	getStatus (void)=0
	Gets the status of the connection, which is one of the enum status. More...
std::string	getStatusMessage (int messageNumber)
	Gets the description string associated with the status. More...
virtual bool	openSimple (void)=0
	Opens the connection again, using the values from setLocation or.
virtual bool	close (void)
	Closes the connection. More...
virtual std::string	getOpenMessage (int messageNumber)=0
	Gets the string of the message associated with opening the device. More...
virtual ArTime	getTimeRead (int index)=0
	Gets the time data was read in. More...
virtual bool	isTimeStamping (void)=0
	sees if timestamping is really going on or not. More...

Detailed Description

Base class for device connections.

Base class for device connections, this is mostly for connections to the robot or simulator but could also be used for a connection to a laser or other device

Note that this is mostly a base class, so if you'll want to use one of the classes which inherit from this one... also note that in those classes is where you'll find setPort which sets the place the device connection will try to connect to... the inherited classes also have an open which returns more detailed information about the open attempt, and which takes the parameters for where to connect

Member Enumeration Documentation

enum ArDeviceConnection::Status

Enumeration values:

STATUS_NEVER_OPENED	Never opened.
STATUS_OPEN	Currently open.
STATUS_OPEN_FAILED	Tried to open, but failed.
STATUS_CLOSED_NORMALLY	Closed by a close call.
STATUS_CLOSED_ERROR	Closed because of error.

Member Function Documentation

virtual bool ArDeviceConnection::close ( void ) [inline, virtual]

Closes the connection.

Returns:

whether the close succeeded or not

Reimplemented in ArSerialConnection, and ArTcpConnection.

virtual std::string ArDeviceConnection::getOpenMessage ( int messageNumber ) [pure virtual]

Gets the string of the message associated with opening the device.

Each class inherited from this one has an open method which returns 0 for success or an integer which can be passed into this function to obtain a string describing the reason for failure

Parameters:

messageNumber

the number returned from the open

Returns:

the error description associated with the messageNumber

Reimplemented in ArSerialConnection, and ArTcpConnection.

virtual int ArDeviceConnection::getStatus ( void ) [pure virtual]

Gets the status of the connection, which is one of the enum status.

Gets the status of the connection, which is one of the enum status. If you want to get a string to go along with the number, use getStatusMessage

Returns:

the status of the connection

See also:

getStatusMessage

Reimplemented in ArSerialConnection, and ArTcpConnection.

std::string ArDeviceConnection::getStatusMessage

(

int

messageNumber

)

Gets the description string associated with the status.

Parameters:

messageNumber

the int from getStatus you want the string for

Returns:

the description associated with the status

See also:

getStatus

virtual ArTime ArDeviceConnection::getTimeRead ( int index ) [pure virtual]

Gets the time data was read in.

Parameters:

index

looks like this is the index back in the number of bytes last read in

Returns:

the time the last read data was read in

Reimplemented in ArSerialConnection, and ArTcpConnection.

virtual bool ArDeviceConnection::isTimeStamping ( void ) [pure virtual]

sees if timestamping is really going on or not.

Returns:

true if real timestamping is happening, false otherwise

Reimplemented in ArSerialConnection, and ArTcpConnection.

virtual int ArDeviceConnection::read	(	const char *	data,
		unsigned int	size,
		unsigned int	msWait = 0
	)	`[pure virtual]`

Reads data from connection.

Reads data from connection

Parameters:

data	pointer to a character array to read the data into
size	maximum number of bytes to read
msWait	read blocks for this many milliseconds (not at all for < 0)

Returns:

number of bytes read, or -1 for failure

See also:

write

Reimplemented in ArSerialConnection, and ArTcpConnection.