Class IConnection

• Defined in File friConnectionIf.h

Inheritance Relationships

Derived Type

• public KUKA::FRI::UdpConnection (Class UdpConnection)

Class Documentation

class IConnection

FRI connection interface.

Connections to the KUKA Sunrise controller have to be implemented using this interface.

Subclassed by KUKA::FRI::UdpConnection

Public Functions

inline virtual ~IConnection()

Virtual destructor.

virtual bool open(int port, const char *remoteHost) = 0

Open a connection to the KUKA Sunrise controller.

Parameters:

• port – The port ID

• remoteHost – The address of the remote host

Returns:

True if connection was established

virtual void close() = 0

Close a connection to the KUKA Sunrise controller.

virtual bool isOpen() const = 0

Checks whether a connection to the KUKA Sunrise controller is established.

Returns:

True if connection is established

virtual int receive(char *buffer, int maxSize) = 0

Receive a new FRI monitoring message from the KUKA Sunrise controller.

This method blocks until a new message arrives.

Parameters:

• buffer – Pointer to the allocated buffer that will hold the FRI message

• maxSize – Size in bytes of the allocated buffer

Returns:

Number of bytes received (0 when connection was terminated, negative in case of errors)

virtual bool send(const char *buffer, int size) = 0

Send a new FRI command message to the KUKA Sunrise controller.

Parameters:

• buffer – Pointer to the buffer holding the FRI message

• size – Size in bytes of the message to be send

Returns:

True if successful