KatanaNativeInterface  $VERSION$
Public Member Functions | Static Protected Member Functions | Private Attributes
CCdlSocket Class Reference

Encapsulates the socket communication device. More...

#include <cdlSocket.h>

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List of all members.

Public Member Functions

 CCdlSocket (char *adress, int port)
 Constructs a CCdlSocket object.
virtual ~CCdlSocket ()
 Destructs the object.
virtual int send (const void *_buf, int _size)
 Sends data to the socket.
virtual int recv (void *_buf, int _size)
 Receives data from the socket.
virtual int disconnect ()
 Terminates the socket connection.

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 _port
 Port number of the KNI communication socket.
int _len
 Length of the message.
int _socketfd
 File handler for the socket.
struct sockaddr_in _socketAddr
 Structure to fill in the socket communication parameteres.

Detailed Description

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 61 of file cdlSocket.h.


Constructor & Destructor Documentation

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'.

virtual CCdlSocket::~CCdlSocket ( ) [virtual]

Destructs the object.


Member Function Documentation

static char CCdlSocket::digit ( const int  _val) [inline, static, protected]

Converts an integer to a char.

Definition at line 93 of file cdlSocket.h.

virtual int CCdlSocket::disconnect ( ) [virtual]

Terminates the socket connection.

virtual int CCdlSocket::recv ( void *  _buf,
int  _size 
) [virtual]

Receives data from the socket.

Implements CCdlBase.

virtual int CCdlSocket::send ( const void *  _buf,
int  _size 
) [virtual]

Sends data to the socket.

Implements CCdlBase.


Member Data Documentation

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 65 of file cdlSocket.h.

int CCdlSocket::_len [private]

Length of the message.

Definition at line 69 of file cdlSocket.h.

int CCdlSocket::_port [private]

Port number of the KNI communication socket.

Definition at line 67 of file cdlSocket.h.

struct sockaddr_in CCdlSocket::_socketAddr [private]

Structure to fill in the socket communication parameteres.

Definition at line 84 of file cdlSocket.h.

int CCdlSocket::_socketfd [private]

File handler for the socket.

Definition at line 82 of file cdlSocket.h.


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