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<h1>CCdlSocket Class Reference</h1> </div>
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<!-- doxytag: class="CCdlSocket" --><!-- doxytag: inherits="CCdlBase" -->
<p>Encapsulates the socket communication device.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="cdlSocket_8h_source.html">cdlSocket.h</a>></code></p>
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Inheritance diagram for CCdlSocket:</div>
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<div class="center"><img src="classCCdlSocket__inherit__graph.png" border="0" usemap="#CCdlSocket_inherit__map" alt="Inheritance graph"/></div>
<map name="CCdlSocket_inherit__map" id="CCdlSocket_inherit__map">
<area shape="rect" id="node2" href="classCCdlBase.html" title="Abstract base class for devices." alt="" coords="11,5,120,125"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for CCdlSocket:</div>
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<div class="center"><img src="classCCdlSocket__coll__graph.png" border="0" usemap="#CCdlSocket_coll__map" alt="Collaboration graph"/></div>
<map name="CCdlSocket_coll__map" id="CCdlSocket_coll__map">
<area shape="rect" id="node2" href="classCCdlBase.html" title="Abstract base class for devices." alt="" coords="11,5,120,125"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classCCdlSocket-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#a57836cdb474c4a0b6b2e497c52125e68">CCdlSocket</a> (char *adress, int port)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructs a <a class="el" href="classCCdlSocket.html" title="Encapsulates the socket communication device.">CCdlSocket</a> object. <a href="#a57836cdb474c4a0b6b2e497c52125e68"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#a7ebcb3fa311c0fcbf0d65e6de4da5f77">~CCdlSocket</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructs the object. <a href="#a7ebcb3fa311c0fcbf0d65e6de4da5f77"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#aa94e3a9baad4da7ffeba8c1ede8ba552">send</a> (const void *_buf, int _size)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends data to the socket. <a href="#aa94e3a9baad4da7ffeba8c1ede8ba552"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#a14856fd7eb9603e241b1e7a234493d21">recv</a> (void *_buf, int _size)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Receives data from the socket. <a href="#a14856fd7eb9603e241b1e7a234493d21"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#a534dd833c826f6e5f82d32b257e63dd4">disconnect</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Terminates the socket connection. <a href="#a534dd833c826f6e5f82d32b257e63dd4"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-static-methods"></a>
Static Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static char </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#affc2cb0b2c9315151309ba95622e7a3c">digit</a> (const int _val)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Converts an integer to a char. <a href="#affc2cb0b2c9315151309ba95622e7a3c"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#ad26f28af38c2be23e9578e4d9523cc2c">_ipAddr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">IP Address of the Robot or simulation environment. <a href="#ad26f28af38c2be23e9578e4d9523cc2c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#adb631218ba3425c088d1c772d8e60f91">_port</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Port number of the <a class="el" href="namespaceKNI.html">KNI</a> communication socket. <a href="#adb631218ba3425c088d1c772d8e60f91"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#a1ee5023fd6083dbf4f48447777df5006">_len</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Length of the message. <a href="#a1ee5023fd6083dbf4f48447777df5006"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#a57e5f24038d8e41665f2789e01dadc3e">_socketfd</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">File handler for the socket. <a href="#a57e5f24038d8e41665f2789e01dadc3e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct sockaddr_in </td><td class="memItemRight" valign="bottom"><a class="el" href="classCCdlSocket.html#a05af853473345176ec84b128d26a022f">_socketAddr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Structure to fill in the socket communication parameteres. <a href="#a05af853473345176ec84b128d26a022f"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Encapsulates the socket communication device. </p>
<p>This class is responsible for direct communication with the Katana robot or its simulation environment through sockets. It builds the lowest layer for <a class="el" href="namespaceKNI.html">KNI</a> communication and uses the system API functions to get access to the socket. </p>
<p>Definition at line <a class="el" href="cdlSocket_8h_source.html#l00061">61</a> of file <a class="el" href="cdlSocket_8h_source.html">cdlSocket.h</a>.</p>
</div><hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a57836cdb474c4a0b6b2e497c52125e68"></a><!-- doxytag: member="CCdlSocket::CCdlSocket" ref="a57836cdb474c4a0b6b2e497c52125e68" args="(char *adress, int port)" -->
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<td class="memname">CCdlSocket::CCdlSocket </td>
<td>(</td>
<td class="paramtype">char * </td>
<td class="paramname"><em>adress</em>, </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>port</em> </td>
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<td>)</td>
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<p>Constructs a <a class="el" href="classCCdlSocket.html" title="Encapsulates the socket communication device.">CCdlSocket</a> object. </p>
<p>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'. </p>
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<a class="anchor" id="a7ebcb3fa311c0fcbf0d65e6de4da5f77"></a><!-- doxytag: member="CCdlSocket::~CCdlSocket" ref="a7ebcb3fa311c0fcbf0d65e6de4da5f77" args="()" -->
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<td class="memname">virtual CCdlSocket::~CCdlSocket </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Destructs the object. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="affc2cb0b2c9315151309ba95622e7a3c"></a><!-- doxytag: member="CCdlSocket::digit" ref="affc2cb0b2c9315151309ba95622e7a3c" args="(const int _val)" -->
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<td class="memname">static char CCdlSocket::digit </td>
<td>(</td>
<td class="paramtype">const int </td>
<td class="paramname"><em>_val</em></td><td>)</td>
<td><code> [inline, static, protected]</code></td>
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<p>Converts an integer to a char. </p>
<p>Definition at line <a class="el" href="cdlSocket_8h_source.html#l00093">93</a> of file <a class="el" href="cdlSocket_8h_source.html">cdlSocket.h</a>.</p>
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<a class="anchor" id="a534dd833c826f6e5f82d32b257e63dd4"></a><!-- doxytag: member="CCdlSocket::disconnect" ref="a534dd833c826f6e5f82d32b257e63dd4" args="()" -->
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<td class="memname">virtual int CCdlSocket::disconnect </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Terminates the socket connection. </p>
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<a class="anchor" id="a14856fd7eb9603e241b1e7a234493d21"></a><!-- doxytag: member="CCdlSocket::recv" ref="a14856fd7eb9603e241b1e7a234493d21" args="(void *_buf, int _size)" -->
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<td class="memname">virtual int CCdlSocket::recv </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>_buf</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>_size</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Receives data from the socket. </p>
<p>Implements <a class="el" href="classCCdlBase.html#a206a79ca60593b62676f2ef3a8b157a1">CCdlBase</a>.</p>
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<a class="anchor" id="aa94e3a9baad4da7ffeba8c1ede8ba552"></a><!-- doxytag: member="CCdlSocket::send" ref="aa94e3a9baad4da7ffeba8c1ede8ba552" args="(const void *_buf, int _size)" -->
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<td class="memname">virtual int CCdlSocket::send </td>
<td>(</td>
<td class="paramtype">const void * </td>
<td class="paramname"><em>_buf</em>, </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>_size</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Sends data to the socket. </p>
<p>Implements <a class="el" href="classCCdlBase.html#aba5536b5780002dfd20884b79d38f172">CCdlBase</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ad26f28af38c2be23e9578e4d9523cc2c"></a><!-- doxytag: member="CCdlSocket::_ipAddr" ref="ad26f28af38c2be23e9578e4d9523cc2c" args="" -->
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<td class="memname">char* <a class="el" href="classCCdlSocket.html#ad26f28af38c2be23e9578e4d9523cc2c">CCdlSocket::_ipAddr</a><code> [private]</code></td>
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<p>IP Address of the Robot or simulation environment. </p>
<p>Set to localhost or 127.0.0.1 if the simulation runs on the same machine </p>
<p>Definition at line <a class="el" href="cdlSocket_8h_source.html#l00065">65</a> of file <a class="el" href="cdlSocket_8h_source.html">cdlSocket.h</a>.</p>
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<a class="anchor" id="a1ee5023fd6083dbf4f48447777df5006"></a><!-- doxytag: member="CCdlSocket::_len" ref="a1ee5023fd6083dbf4f48447777df5006" args="" -->
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<td class="memname">int <a class="el" href="classCCdlSocket.html#a1ee5023fd6083dbf4f48447777df5006">CCdlSocket::_len</a><code> [private]</code></td>
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<p>Length of the message. </p>
<p>Definition at line <a class="el" href="cdlSocket_8h_source.html#l00069">69</a> of file <a class="el" href="cdlSocket_8h_source.html">cdlSocket.h</a>.</p>
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<a class="anchor" id="adb631218ba3425c088d1c772d8e60f91"></a><!-- doxytag: member="CCdlSocket::_port" ref="adb631218ba3425c088d1c772d8e60f91" args="" -->
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<td class="memname">int <a class="el" href="classCCdlSocket.html#adb631218ba3425c088d1c772d8e60f91">CCdlSocket::_port</a><code> [private]</code></td>
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<p>Port number of the <a class="el" href="namespaceKNI.html">KNI</a> communication socket. </p>
<p>Definition at line <a class="el" href="cdlSocket_8h_source.html#l00067">67</a> of file <a class="el" href="cdlSocket_8h_source.html">cdlSocket.h</a>.</p>
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<a class="anchor" id="a05af853473345176ec84b128d26a022f"></a><!-- doxytag: member="CCdlSocket::_socketAddr" ref="a05af853473345176ec84b128d26a022f" args="" -->
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<td class="memname">struct sockaddr_in <a class="el" href="classCCdlSocket.html#a05af853473345176ec84b128d26a022f">CCdlSocket::_socketAddr</a><code> [private]</code></td>
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<p>Structure to fill in the socket communication parameteres. </p>
<p>Definition at line <a class="el" href="cdlSocket_8h_source.html#l00084">84</a> of file <a class="el" href="cdlSocket_8h_source.html">cdlSocket.h</a>.</p>
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<a class="anchor" id="a57e5f24038d8e41665f2789e01dadc3e"></a><!-- doxytag: member="CCdlSocket::_socketfd" ref="a57e5f24038d8e41665f2789e01dadc3e" args="" -->
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<td class="memname">int <a class="el" href="classCCdlSocket.html#a57e5f24038d8e41665f2789e01dadc3e">CCdlSocket::_socketfd</a><code> [private]</code></td>
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<p>File handler for the socket. </p>
<p>Definition at line <a class="el" href="cdlSocket_8h_source.html#l00082">82</a> of file <a class="el" href="cdlSocket_8h_source.html">cdlSocket.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/KNI/<a class="el" href="cdlSocket_8h_source.html">cdlSocket.h</a></li>
</ul>
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