packet.h
Go to the documentation of this file.00001 /* 00002 * P2OS for ROS 00003 * Copyright (C) 2009 00004 * David Feil-Seifer, Brian Gerkey, Kasper Stoy, 00005 * Richard Vaughan, & Andrew Howard 00006 * 00007 * 00008 * This program is free software; you can redistribute it and/or modify 00009 * it under the terms of the GNU General Public License as published by 00010 * the Free Software Foundation; either version 2 of the License, or 00011 * (at your option) any later version. 00012 * 00013 * This program is distributed in the hope that it will be useful, 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00016 * GNU General Public License for more details. 00017 * 00018 * You should have received a copy of the GNU General Public License 00019 * along with this program; if not, write to the Free Software 00020 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00021 * 00022 */ 00023 00024 00025 #ifndef _PACKET_H 00026 #define _PACKET_H 00027 00028 #include <string.h> 00029 #include "ros/ros.h" 00030 00031 #define PACKET_LEN 256 00032 00033 class P2OSPacket 00034 { 00035 public: 00036 unsigned char packet[PACKET_LEN]; 00037 unsigned char size; 00038 ros::Time timestamp; 00039 00040 int CalcChkSum(); 00041 00042 void Print(); 00043 void PrintHex(); 00044 int Build( unsigned char *data, unsigned char datasize ); 00045 int Send( int fd ); 00046 int Receive( int fd ); 00047 bool Check(); 00048 00049 bool operator!= ( P2OSPacket p ) { 00050 if ( size != p.size) return(true); 00051 00052 if ( memcmp( packet, p.packet, size ) != 0 ) return (true); 00053 00054 return(false); 00055 } 00056 }; 00057 00058 #endif