/usr/include/Aria/ArLMS2xxPacket.h is in libaria-dev 2.8.0+repack-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARLMS2XXPACKET_H
#define ARLMS2XXPACKET_H
#include "ariaTypedefs.h"
#include "ArBasePacket.h"
#include "ariaUtil.h"
/// Represents the packets sent to the LMS2xx as well as those received from it
/**
This class reimplements some of the buf operations since the robot is
little endian.
You can just look at the documentation for the ArBasePacket except
for these functions here, setAddress, getAddress, verifyCheckSum,
print, getID, and calcCheckSum.
*/
class ArLMS2xxPacket: public ArBasePacket
{
public:
/// Constructor
AREXPORT ArLMS2xxPacket(unsigned char sendingAddress = 0);
/// Destructor
AREXPORT virtual ~ArLMS2xxPacket();
/// Sets the address to send this packet to (only use for sending)
AREXPORT void setSendingAddress(unsigned char address);
/// Sets the address to send this packet to (only use for sending)
AREXPORT unsigned char getSendingAddress(void);
/// Gets the address this packet was sent from (only use for receiving)
AREXPORT unsigned char getReceivedAddress(void);
/// returns true if the crc matches what it should be
AREXPORT bool verifyCRC(void);
/// returns the ID of the packet (first byte of data)
AREXPORT ArTypes::UByte getID(void);
/// returns the crc, probably used only internally
AREXPORT ArTypes::Byte2 calcCRC(void);
// only call finalizePacket before a send
AREXPORT virtual void finalizePacket(void);
AREXPORT virtual void resetRead(void);
/// Gets the time the packet was received at
AREXPORT ArTime getTimeReceived(void);
/// Sets the time the packet was received at
AREXPORT void setTimeReceived(ArTime timeReceived);
/// Duplicates the packet
AREXPORT virtual void duplicatePacket(ArLMS2xxPacket *packet);
protected:
ArTime myTimeReceived;
unsigned char mySendingAddress;
};
typedef ArLMS2xxPacket ArSickPacket;
#endif // ARSICKPACKET_H
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