Encapsulates the socket communication device. More...

#include <cdlSocket.h>

Inheritance diagram for CCdlSocket:

Public Member Functions
	CCdlSocket (char *adress, int port)
	Constructs a CCdlSocket object. More...

virtual int	disconnect ()
	Terminates the socket connection. More...

virtual int	recv (void *_buf, int _size)
	Receives data from the socket. More...

virtual int	send (const void *_buf, int _size)
	Sends data to the socket. More...

virtual	~CCdlSocket ()
	Destructs the object. More...

Public Member Functions inherited from CCdlBase
virtual	~CCdlBase ()
	destructor More...

Static Protected Member Functions
static char	digit (const int _val)
	Converts an integer to a char. More...

Private Attributes
char *	_ipAddr
	IP Address of the Robot or simulation environment. More...

int	_len
	Length of the message. More...

int	_port
	Port number of the KNI communication socket. More...

struct sockaddr_in	_socketAddr
	Structure to fill in the socket communication parameteres. More...

int	_socketfd
	File handler for the socket. More...

Detailed Description

Encapsulates the socket communication device.

This class is responsible for direct communication with the Katana robot or its simulation environment through sockets. It builds the lowest layer for KNI communication and uses the system API functions to get access to the socket.

Definition at line 65 of file cdlSocket.h.

Constructor & Destructor Documentation

CCdlSocket::CCdlSocket	(	char *	adress,
		int	port
	)

Constructs a CCdlSocket object.

To this constructor the socket's AF_INET address (for platform independence) and port number have to be given as parameters. An attempt to open a connection to the desired device will be tried and if successful, 'lastOP()' will return 'lopDONE', otherwise 'lopFAIL'.

Definition at line 89 of file cdlSocket.cpp.

CCdlSocket::~CCdlSocket ( )

virtual

Destructs the object.

Definition at line 120 of file cdlSocket.cpp.

Member Function Documentation

static char CCdlSocket::digit ( const int _val )

inlinestaticprotected

Converts an integer to a char.

Definition at line 97 of file cdlSocket.h.

int CCdlSocket::disconnect ( )

virtual

Terminates the socket connection.

Definition at line 156 of file cdlSocket.cpp.

int CCdlSocket::recv	(	void *	_buf,
		int	_size
	)

virtual

Receives data from the socket.

Implements CCdlBase.

Definition at line 142 of file cdlSocket.cpp.

int CCdlSocket::send	(	const void *	_buf,
		int	_size
	)

virtual

Sends data to the socket.

Implements CCdlBase.

Definition at line 125 of file cdlSocket.cpp.

Member Data Documentation

char* CCdlSocket::_ipAddr

private

IP Address of the Robot or simulation environment.

Set to localhost or 127.0.0.1 if the simulation runs on the same machine

Definition at line 69 of file cdlSocket.h.

int CCdlSocket::_len

private

Length of the message.

Definition at line 73 of file cdlSocket.h.

int CCdlSocket::_port

private

Port number of the KNI communication socket.

Definition at line 71 of file cdlSocket.h.

struct sockaddr_in CCdlSocket::_socketAddr

private

Structure to fill in the socket communication parameteres.

Definition at line 88 of file cdlSocket.h.

int CCdlSocket::_socketfd

private

File handler for the socket.

Definition at line 86 of file cdlSocket.h.

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

Public Member Functions

Static Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation