Public Member Functions
Hardware Properties
Get and set the robot's name, IP, port, and communication time.
const std::string &	GetName () const noexcept
	Get robot's name.

void	SetName (const std::string &_name) noexcept
	Set robot's name.

const std::string &	GetIP () const noexcept
	Get IP address for hardware controller.

void	SetIP (const std::string &_ip) noexcept
	Set IP address for hardware controller.

unsigned short	GetPort () const noexcept
	Get IP port for connection.

void	SetPort (const unsigned short _port) noexcept
	Set IP port for connection.

double	GetCommunicationTime () const noexcept
	Get minimum time in seconds to send command.

void	SetCommunicationTime (const double _t) noexcept
	Set minimum time in seconds to send command.

virtual HardwareType	GetHardwareType () const noexcept=0

Public Types
Local Types
enum	HardwareType { Actuator , Sensor }
	The types of supported hardware.

Protected Attributes
Internal State
std::string	m_name
	The hardware type.

std::string	m_ip
	The IP address for the hardware's controller.

unsigned short	m_port
	The IP port for the controller connection.

double	m_communicationTime {0.}
	The minimum time in seconds needed to send a command to the hardware.

Construction
	HardwareInterface (const std::string &_name, const std::string &_ip, const unsigned short _port, const double _communicationTime)

virtual	~HardwareInterface ()=default

static std::unique_ptr< HardwareInterface >	Factory (class XMLNode &_node)

Detailed Description

An abstract interface for communicating with IP-capable hardware.

Note: For now, all our use cases involve robots that we talk to through an IP address, so this is hard-coded into the base abstraction. If this changes later, we will wish to abstract those components into a more general 'communication interface' object and use that here or as a superclass.

Constructor & Destructor Documentation

HardwareInterface::HardwareInterface	(	const std::string &	_name,
		const std::string &	_ip,
		const unsigned short	_port,
		const double	_communicationTime
	)

Construct a hardware interface.

Parameters

_name	The name of the hardware, such as 'iCreate'.
_ip	The IP address for the on-board controller.
_port	The IP port.
_communicationTime	The minimum time needed to send a command to the robot.

std::unique_ptr< HardwareInterface > HardwareInterface::Factory ( class XMLNode & _node )

static

Create an interface from an XML node.

Parameters

_node

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