Enki::Bluetooth Class Reference

Implementation of an onboard Bluetooth module. More...

#include <Bluetooth.h>

Inheritance diagram for Enki::Bluetooth:

Public Types
enum	Errors {   BT_NO_ERROR = 0, ADDRESS_UNKNOWN = 1, DISTANCE_EXCEEDED = 2, TOO_MANY_CONNECTIONS = 3,   RECEPTION_BUFFER_FULL = 4 }
	Error that bluetooth communication can produce. More...

Public Member Functions
	Bluetooth (Robot *owner, double range, unsigned maxConnections, unsigned rxbuffersize, unsigned txbuffersize, unsigned address)
	Constructor e.g. More...
virtual	~Bluetooth ()
	Destructor.
virtual void	step (double dt, World *w)
	On every timestep, send the commands recorded to the bluetooth Base to be executed.
void	setAddress (unsigned address)
	Change the address of the module.
unsigned	getAddress ()
	Return the address of the module.
void	connectTo (unsigned address)
	Initiate a connection with another module.
bool	closeConnection (unsigned index)
	Close an established connection with another module.
bool	didIReceive ()
	Indicate if data was received during the last step.
bool	didIReceive (unsigned source)
	Indicate if data from the module having the address "source" was received during the last step.
bool *	getReceptionFlags ()
	Return the reception flags indicating from which module data was received.
const char *	getRxBuffer (unsigned source)
	Return the reception buffer associated with another module of address "source".
unsigned	getSizeReceived (unsigned source)
	Return the amount of data received from another module of address "source" during the last step.
bool	sendDataTo (unsigned dest, char *data, unsigned size)
	Send data to the module of address "dest".
unsigned *	getTransmissionError ()
	Return the flags indicating on which connection a transmission error occured.
bool	isThereTxError ()
	Indicate if an error of transmission occured during the last step.
unsigned	getConnectionError ()
	Return the status of the connection error flag.
unsigned	getDisconnectionError ()
	Return the status of the disconnection error flag.
unsigned	getTxBufferSize ()
	Return the size of the transmission buffers.
void	changeTxBufferSize (unsigned size)
	Modify the size of the transmission buffers.
unsigned	getRxBufferSize ()
	Return the size of the reception buffers.
void	changeRxBufferSize (unsigned size)
	Modify the size of the reception buffers.
unsigned	getMaxConnections ()
	Return the maximum number of simultaneous connections supported by this module.
void	changeMaxConnections (unsigned size)
	Change the maximum number of simultaneous connections supported by this module.
unsigned	getNbConnections ()
	Return the number of established connections to other modules.
unsigned *	getConnectedAddresses ()
	Return the addresses of the other connected modules.
Public Member Functions inherited from Enki::GlobalInteraction
	GlobalInteraction ()
	Constructor.
	GlobalInteraction (Robot *owner)
	Constructor.
virtual	~GlobalInteraction ()
	Destructor.
virtual void	init (double dt, World *w)
	Init at each step.
virtual void	finalize (double dt, World *w)
	Finalize at each step.

Protected Member Functions
void	cancelRxBuffer ()
	Deallocate the memory dedicated for the reception buffer.
void	cancelTxBuffer ()
	Deallocate the memory dedicated for the transmission buffer.
void	cancelAllData ()
	Deallocate all the memory.
void	initAllData ()
	Initialise all the data structure requires by the module.

Protected Attributes
double	range
	Range of the interaction.
unsigned	nbConnections
	Number of connections currently established.
unsigned	maxConnections
	Maximum number of simultaneous connections supported.
unsigned	address
	Address of the Bluetooth module.
char **	rxBuffer
	Reception buffers for data coming from other connected modules.
char **	txBuffer
	Transmission buffers for data sent to other connected modules.
unsigned	rxBufferSize
	Size of each buffer for the reception of data.
unsigned	txBufferSize
	Size of each buffer for the transmission of data.
bool *	receptionFlags
	Flags signalling the reception of data.
unsigned *	destAddress
	Addresses of the connected modules.
unsigned *	sizeToSend
	Size of the data to send.
unsigned *	sizeReceived
	Size of the data received.
bool	updateAddress
	Flag indicating a change in the address of the module.
bool	randomAddress
	Flag indicating that the current address has been assigned randomly.
std::queue< unsigned >	connectToRobot
	Queue containing request for connection to other modules.
std::queue< unsigned >	closeConnectionToRobot
	Queue containing request for closing the connection with other modules.
unsigned *	transmissionError
	Flags indicating transmission errors.
char	connectionError
	Flag indicating an error involving the connection toward another robot.
char	disconnectionError
	Flag indicating an error involving the disconnection from another robot.
Protected Attributes inherited from Enki::GlobalInteraction
Robot *	owner
	The physical object that owns the interaction.

Friends
class	BluetoothBase

Detailed Description

Implementation of an onboard Bluetooth module.

Member Enumeration Documentation

enum Enki::Bluetooth::Errors

Error that bluetooth communication can produce.

Enumerator
BT_NO_ERROR	No error occured during the last step.
ADDRESS_UNKNOWN	The address used was unknown.
DISTANCE_EXCEEDED	The distance between the 2 robots is too great.
TOO_MANY_CONNECTIONS	No additional connection can be made as the robot is already at maximum.
RECEPTION_BUFFER_FULL	The reception buffer is full and no additional data can be written.

Constructor & Destructor Documentation

Enki::Bluetooth::Bluetooth	(	Robot *	owner,
		double	range,
		unsigned	maxConnections,
		unsigned	rxbuffersize,
		unsigned	txbuffersize,
		unsigned	address
	)

Constructor e.g.

: "bluetooth(this,10000,7,100,10,1)" for a module of address 1 with a range of 10 meters, 7 supporting simultaneous connections capable of receiving packets of 100 bytes and emitting packets of 10 bytes.

References address, BT_NO_ERROR, connectionError, disconnectionError, initAllData(), maxConnections, nbConnections, Enki::GlobalInteraction::owner, randomAddress, range, rxBufferSize, txBufferSize, and updateAddress.

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

• enki/interactions/Bluetooth.h
• enki/interactions/Bluetooth.cpp