Represents a communication device. More...

#include <Com.h>

Public Member Functions
	Com ()

	Com (const char *name)

	Com (const char *name, bool multiThreadedSerialization)

	Com (const char *name, bool multiThreadedSerialization, bool localIPCEnabled)

virtual	~Com ()

ComId	id () const

void	connectToServer (bool isBlocking=true)

void	disconnectFromServer ()

bool	isConnected () const

void	setAutoReconnectEnabled (bool enable)

void	setAddress (const char *address)

const char *	address () const

void	setName (const char *name)

void	setMultiThreadedSerializationEnabled (bool enabled)

bool	isLocalConnection () const

unsigned int	msecsElapsed () const

void	processEvents ()

void	processComEvents ()

void	processChargerEvents ()

void	processPowerButtonEvents ()

void	processFactory4Events ()

virtual void	errorEvent (const char *errorString)

virtual void	connectedEvent ()

virtual void	connectionClosedEvent ()

virtual void	logEvent (const char *message, int level)

Detailed Description

Represents a communication device.

Constructor & Destructor Documentation

rec::robotino::api2::Com::Com ( )

Construct the Com object.

Exceptions

nothing

rec::robotino::api2::Com::Com ( const char * name )

Construct the Com object.

Parameters

name	A custom name for the client. If NULL, a default name will be used.

Exceptions

nothing

rec::robotino::api2::Com::Com	(	const char *	name,
		bool	multiThreadedSerialization
	)

Construct the Com object.

Parameters

name	A custom name for the client. If NULL, a default name will be used.
multiThreadedSerialization	If true, (de)serialization tasks will be performed by multiple threads. This should perform better on multi core CPUs.

Exceptions

nothing

rec::robotino::api2::Com::Com	(	const char *	name,
		bool	multiThreadedSerialization,
		bool	localIPCEnabled
	)

Construct the Com object.

Parameters

name	A custom name for the client. If NULL, a default name will be used.
multiThreadedSerialization	If true, (de)serialization tasks will be performed by multiple threads. This should perform better on multi core CPUs.
localIPCEnabled	If true, local sockets and shared memory is used for communication. This can lead to problems due to different privileges of the server and the client. But is of course much faster than TCP sockets. If false TCP sockets are used only.

Exceptions

nothing

virtual rec::robotino::api2::Com::~Com ( )

virtual

Exceptions

nothing

Member Function Documentation

const char* rec::robotino::api2::Com::address ( ) const

Returns the currently active server address.

Returns: Address set with setAddress

See also: setAddress

Exceptions

nothing.

Remarks: This function is thread save

virtual void rec::robotino::api2::Com::connectedEvent ( )

virtual

This function is called if a connection to Robotino has been established. Note: This function is called from outside the applications main thread. This is extremely important particularly with regard to GUI applications.

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() is called.

See also: processEvents

virtual void rec::robotino::api2::Com::connectionClosedEvent ( )

virtual

This function is called when a connection is closed. Note: This function is called from outside the applications main thread. This is extremely important particularly with regard to GUI applications.

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() is called.

See also: processEvents

void rec::robotino::api2::Com::connectToServer ( bool isBlocking = true )

Connects to the server. This function blocks until the connection is established or an error occurs.

Parameters

isBlocking If true, this function blocks until the connection is established or an error occurs. Otherwise the function is non blocking and you have to wait for error or connected callbacks.

Exceptions

In	blocking mode a ComException is thrown if the client couldn't connect. In non blocking mode throws nothing.

Remarks: This function is thread save

void rec::robotino::api2::Com::disconnectFromServer ( )

Disconnects from the server and disables autoupdating.

Exceptions

nothing.

Remarks: This function is thread save

virtual void rec::robotino::api2::Com::errorEvent ( const char * errorString )

virtual

This function is called on errors.

Parameters

errorString A human readable error description.

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() is called.

See also: processEvents

ComId rec::robotino::api2::Com::id ( ) const

The unique identifier of this communication object.

Returns: The identifier.

Exceptions

nothing.

bool rec::robotino::api2::Com::isConnected ( ) const

Test wether the client is connected to the server.

Returns: TRUE if connected, FALSE otherwise.

Exceptions

nothing.

Remarks: This function is thread save

bool rec::robotino::api2::Com::isLocalConnection ( ) const

Returns: Returns true if the connection is a local connection. Otherwise returns false.

virtual void rec::robotino::api2::Com::logEvent	(	const char *	message,
		int	level
	)

virtual

This function is called when a log message is posted. Note: This function is called from outside the applications main thread. This is extremely important particularly with regard to GUI applications.

Parameters

message	The log message.
level	The log level.

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() is called.

See also: processEvents

unsigned int rec::robotino::api2::Com::msecsElapsed ( ) const

Returns: Milliseconds since connection to server had ben established.

void rec::robotino::api2::Com::processChargerEvents ( )

Call this function from your main thread to get the virtual Charger functions called. The virtual functions are called directly by a call of this function

Exceptions

nothing

See also: Com::processEvents

void rec::robotino::api2::Com::processComEvents ( )

Call this function from your main thread to get the virtual functions of this Com object called. The virtual functions are called directly by a call of this function.

Exceptions

nothing

Remarks: This function needn't be called if processEvents() is called.

void rec::robotino::api2::Com::processEvents ( )

Call this function from your main thread to get the virtual functions of all ComObjects called. The virtual functions are called directly by a call of this function.

Exceptions

nothing

Remarks: This function should be called as fast as possible in order to get readings from sensors quickly, e.g. in the main event loop of GUI applications.

void rec::robotino::api2::Com::processFactory4Events ( )

Call this function from your main thread to get the virtual Factory4 functions called. The virtual functions are called directly by a call of this function

Exceptions

nothing

See also: Com::processEvents

void rec::robotino::api2::Com::processPowerButtonEvents ( )

Call this function from your main thread to get the virtual PowerButton functions called. The virtual functions are called directly by a call of this function

Exceptions

nothing

See also: Com::processEvents

void rec::robotino::api2::Com::setAddress ( const char * address )

Sets the address of the server.

Parameters

address The address of the server e.g. "172.26.1.1" or "127.0.0.1" To connect to Robotino Sim you also have to specify the server port. The first simulated Robotino listens at port 8080. The address is then "127.0.0.1:8080". Without port specification port 80 (Robotino's default port) is used.

See also: address

Exceptions

nothing.

Remarks: This function is thread save

void rec::robotino::api2::Com::setAutoReconnectEnabled ( bool enable )

Enable/disable automatic reconnection

When enabled the client tries to reconnect automatically after the specified number of milliseconds.

Parameters

enable If true the automatic reconnect will be enabled. If false the client does not reconnect to the server automatically.

See also: connected(), disconnected(), disconnectFromServer()

void rec::robotino::api2::Com::setMultiThreadedSerializationEnabled ( bool enabled )

Enable/disable multi-threaded serialization. Disabled by default.

Parameters

enabled If true, (de)serialization tasks will be performed by multiple threads. This should perform better on multi core CPUs.

Exceptions

nothing

Remarks: The client has to be disconnected and reconnected for the change to take effekt.

void rec::robotino::api2::Com::setName ( const char * name )

Set the client's name

Parameters

name	A custom name for the client. If NULL, a default name will be used.

Exceptions

nothing

Remarks: The client has to be disconnected and reconnected for the change to take effekt.

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

C:/srcs/git/openrobotino/api2/lib/rec/robotino/api2/Com.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation