/usr/include/Aria/ArRobotPacket.h is in libaria-dev 2.8.0+repack-1.2ubuntu1.
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 | /*
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 ARROBOTPACKET_H
#define ARROBOTPACKET_H
#include "ariaTypedefs.h"
#include "ArBasePacket.h"
#include "ariaUtil.h"
/// Represents the packets sent to the robot as well as those received from it
/**
This class reimplements some of the buf operations since the robot is
opposeite endian from intel. Also has the getID for convenience.
You can just look at the documentation for the ArBasePacket except for
the 4 new functions here, verifyCheckSum, getID, print, and calcCheckSum.
*/
class ArRobotPacket: public ArBasePacket
{
public:
/// Constructor
AREXPORT ArRobotPacket(unsigned char sync1 = 0xfa,
unsigned char sync2 = 0xfb);
/// Destructor
AREXPORT virtual ~ArRobotPacket();
/// Assignment operator
AREXPORT ArRobotPacket &operator=(const ArRobotPacket &other);
/// returns true if the checksum matches what it should be
AREXPORT bool verifyCheckSum(void);
/// returns the ID of the packet
AREXPORT ArTypes::UByte getID(void);
/// Sets the ID of the packet
AREXPORT void setID(ArTypes::UByte id);
/// returns the checksum, probably used only internally
AREXPORT ArTypes::Byte2 calcCheckSum(void);
// only call finalizePacket before a send
AREXPORT virtual void finalizePacket(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);
AREXPORT virtual void log();
protected:
unsigned char mySync1;
unsigned char mySync2;
ArTime myTimeReceived;
};
#endif // ARROBOTPACKET_H
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