Encapsulates the socket communication device. More...
#include <cdlSocket.h>
Public Member Functions | |
| CCdlSocket (char *adress, int port) | |
| Constructs a CCdlSocket object. | |
| virtual int | disconnect () |
| Terminates the socket connection. | |
| virtual int | recv (void *_buf, int _size) |
| Receives data from the socket. | |
| virtual int | send (const void *_buf, int _size) |
| Sends data to the socket. | |
| virtual | ~CCdlSocket () |
| Destructs the object. | |
Static Protected Member Functions | |
| static char | digit (const int _val) |
| Converts an integer to a char. | |
Private Attributes | |
| char * | _ipAddr |
| IP Address of the Robot or simulation environment. | |
| int | _len |
| Length of the message. | |
| int | _port |
| Port number of the KNI communication socket. | |
| struct sockaddr_in | _socketAddr |
| Structure to fill in the socket communication parameteres. | |
| int | _socketfd |
| File handler for the socket. | |
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.
| 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.
| static char CCdlSocket::digit | ( | const int | _val | ) | [inline, static, protected] |
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] |
| int CCdlSocket::send | ( | const void * | _buf, |
| int | _size | ||
| ) | [virtual] |
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.
