segwayrmp::RMPIO Class Reference

#include <rmp_io.h>

Inheritance diagram for segwayrmp::RMPIO:

Public Member Functions
void	cancel ()
virtual void	connect ()=0
virtual void	disconnect ()=0
void	getPacket (Packet &packet)
bool	isConnected ()
virtual int	read (unsigned char *buffer, int size)=0
	RMPIO ()
void	sendPacket (Packet &packet)
virtual int	write (unsigned char *buffer, int size)=0

Protected Member Functions
unsigned char	computeChecksum (unsigned char *usb_packet)
void	fillBuffer ()

Protected Attributes
bool	canceled
bool	connected
std::vector< unsigned char >	data_buffer

Detailed Description

Provides a generic interface for getting, building, manipulating, and sending packets.

Definition at line 68 of file rmp_io.h.

Constructor & Destructor Documentation

segwayrmp::RMPIO::RMPIO ( )

inline

Definition at line 70 of file rmp_io.h.

Member Function Documentation

void segwayrmp::RMPIO::cancel ( )

inline

Cancels any currently being processed packets, should be called at shudown.

Definition at line 123 of file rmp_io.h.

unsigned char RMPIO::computeChecksum ( unsigned char *  usb_packet )

protected

Definition at line 138 of file rmp_io.cc.

virtual void segwayrmp::RMPIO::connect ( )

pure virtual

Abstract Connect Function, implemented by subclass.

Implemented in segwayrmp::FTD2XXRMPIO, and segwayrmp::SerialRMPIO.

virtual void segwayrmp::RMPIO::disconnect ( )

pure virtual

Abstract Disconnect Function, implemented by subclass.

Implemented in segwayrmp::FTD2XXRMPIO, and segwayrmp::SerialRMPIO.

void RMPIO::fillBuffer ( )

protected

Definition at line 129 of file rmp_io.cc.

void RMPIO::getPacket

(

Packet &

packet

)

This function reads from the RMP and returns one complete packet.

Parameters

packet

A packet by reference to be read into.

Definition at line 18 of file rmp_io.cc.

bool segwayrmp::RMPIO::isConnected ( )

inline

A function to see if the underlying I/O interface is connected.

Returns

bool weather or not the underlying I/O interface is connected.

Definition at line 118 of file rmp_io.h.

virtual int segwayrmp::RMPIO::read ( unsigned char *  buffer, int  size  )

pure virtual

Abstract Read Function, implemented by subclass.

Parameters

buffer	An unsigned char array for data to be read into.
size	The amount of data to be read.

Returns

int Bytes read.

Implemented in segwayrmp::FTD2XXRMPIO, and segwayrmp::SerialRMPIO.

void RMPIO::sendPacket

(

Packet &

packet

)

This function validates and writes a packet to the RMP.

Parameters

packet

A packet by reference to be written.

Definition at line 109 of file rmp_io.cc.

virtual int segwayrmp::RMPIO::write ( unsigned char *  buffer, int  size  )

pure virtual

Abstract Write Function, implemented by subclass.

Parameters

buffer	An unsigned char array of data to be written.
size	The amount of data to be written.

Returns

int Bytes written.

Implemented in segwayrmp::FTD2XXRMPIO, and segwayrmp::SerialRMPIO.

Member Data Documentation

bool segwayrmp::RMPIO::canceled

protected

Definition at line 130 of file rmp_io.h.

bool segwayrmp::RMPIO::connected

protected

Definition at line 129 of file rmp_io.h.

std::vector<unsigned char> segwayrmp::RMPIO::data_buffer

protected

Definition at line 132 of file rmp_io.h.

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The documentation for this class was generated from the following files:

• rmp_io.h
• rmp_io.cc