/usr/include/Aria/ArRobotPacketReceiver.h is in libaria-dev 2.8.0+repack-1ubuntu2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 | /*
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
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