#include <cola_transmitter.h>

Classes
class	ColaResponseContainer

Public Member Functions
virtual bool	close (void)

	ColaTransmitter (const std::string &server_adress="192.168.0.1", int tcp_port=2111, double default_receive_timeout=1)

virtual bool	connect (void)

virtual bool	receive (std::vector< uint8_t > &telegram, double timeout, ROS::Time &receive_timestamp)

virtual bool	send (const std::vector< uint8_t > &data, ROS::Time &send_timestamp)

virtual bool	startReceiverThread (void)

virtual bool	stopReceiverThread (void)

virtual bool	waitPopResponse (std::vector< uint8_t > &telegram, double timeout, ROS::Time &receive_timestamp)

virtual	~ColaTransmitter ()

Static Public Member Functions
static bool	receive (boost::asio::ip::tcp::socket &socket, std::vector< uint8_t > &telegram, double timeout, ROS::Time &receive_timestamp)

static bool	send (boost::asio::ip::tcp::socket &socket, const std::vector< uint8_t > &data, ROS::Time &send_timestamp)

Protected Member Functions
void	runReceiverThreadCb (void)

Static Protected Member Functions
static bool	dataEndWithETX (const std::vector< uint8_t > &data, const std::vector< uint8_t > &etx)

Protected Attributes
boost::asio::io_service	m_ioservice
	boost io service for tcp connections More...

double	m_receive_timeout
	default timeout in seconds for receive functions More...

boost::thread *	m_receiver_thread
	thread to receive responses from localization server More...

bool	m_receiver_thread_running
	true: m_receiver_thread is running, otherwise false More...

sick_scan::FifoBuffer< ColaResponseContainer, boost::mutex >	m_response_fifo
	fifo buffer for receiver thread for responses from localization server More...

std::string	m_server_adress
	ip adress of the localization controller, default: 192.168.0.1 More...

int	m_tcp_port
	tcp port of the localization controller, default: 2111 for command requests and 2112 for command responses More...

sick_scan::ClientSocket	m_tcp_socket
	tcp socket connected to the localization controller More...

Detailed Description

Class sick_scan::ColaTransmitter connects to the localization controller and sends or receives cola telegrams. Base class for ColaSender and ColaReceiver.

Definition at line 68 of file cola_transmitter.h.

Constructor & Destructor Documentation

◆ ColaTransmitter()

sick_scan::ColaTransmitter::ColaTransmitter	(	const std::string &	server_adress = `"192.168.0.1"`,
		int	tcp_port = `2111`,
		double	default_receive_timeout = `1`
	)

Constructor.

Parameters

[in]	server_adress	ip adress of the localization controller, default: 192.168.0.1
[in]	tcp_port	tcp port for command requests, default: 2111 for command requests and 2112 for command responses
[in]	default_receive_timeout	default timeout in seconds for receive functions

Definition at line 74 of file cola_transmitter.cpp.

◆ ~ColaTransmitter()

sick_scan::ColaTransmitter::~ColaTransmitter ( )

virtual

Destructor, closes all tcp connections.

Definition at line 84 of file cola_transmitter.cpp.

Member Function Documentation

◆ close()

bool sick_scan::ColaTransmitter::close ( void )

virtual

Closes the tcp connection to the localization server.

Returns: always true

Definition at line 104 of file cola_transmitter.cpp.

◆ connect()

bool sick_scan::ColaTransmitter::connect ( void )

virtual

Connects to the localization server.

Returns: true on success, false on failure (localization server unknown or unreachable)

Definition at line 95 of file cola_transmitter.cpp.

◆ dataEndWithETX()

bool sick_scan::ColaTransmitter::dataEndWithETX	(	const std::vector< uint8_t > &	data,
		const std::vector< uint8_t > &	etx
	)

staticprotected

Returns true, if data end with etx, i.e. the trailing (etx.size()) byte in data are identical to etx.

Parameters

[in]	data	data received
[in]	etx	ETX tag (binary or ascii)

Returns: true if data end with etx, false otherwise

Definition at line 237 of file cola_transmitter.cpp.

◆ receive() [1/2]

bool sick_scan::ColaTransmitter::receive	(	boost::asio::ip::tcp::socket &	socket,
		std::vector< uint8_t > &	telegram,
		double	timeout,
		ROS::Time &	receive_timestamp
	)

static

Receive a cola telegram from a socket.

Parameters

[in]	socket	socket to read from
[out]	telegram	telegram received (Cola-Binary or Cola-Ascii)
[in]	timeout	timeout in seconds
[out]	receive_timestamp	receive timestamp in seconds (ros timestamp immediately after first response byte received)

Returns: true on success, false on failure (connection error or timeout)

Receive a cola telegram from a socket.

Parameters

[in]	socket	socket to read from
[out]	telegram	telegram received (Cola-Binary or Cola-Ascii)
[in]	timeout	timeout in seconds
[out]	receive_timestamp	receive timestamp in seconds (ros timestamp immediately after first response byte received)

Returns: true on success, false on failure

Definition at line 179 of file cola_transmitter.cpp.

◆ receive() [2/2]

bool sick_scan::ColaTransmitter::receive	(	std::vector< uint8_t > &	telegram,
		double	timeout,
		ROS::Time &	receive_timestamp
	)

virtual

Receive a cola telegram from the localization server.

Parameters

[out]	telegram	telegram received (Cola-Binary or Cola-Ascii)
[in]	timeout	timeout in seconds
[out]	receive_timestamp	receive timestamp in seconds (ros timestamp immediately after first response byte received)

Returns: true on success, false on failure (connection error or timeout)

Receive a cola telegram from the localization server.

Parameters

[out]	telegram	telegram received (Cola-Binary or Cola-Ascii)
[in]	timeout	timeout in seconds
[out]	receive_timestamp	receive timestamp in seconds (ros timestamp immediately after first response byte received)

Returns: true on success, false on failure

Definition at line 166 of file cola_transmitter.cpp.

◆ runReceiverThreadCb()

void sick_scan::ColaTransmitter::runReceiverThreadCb ( void )

protected

Thread callback, receives response telegrams from localization server and pushes them to m_response_fifo.

Definition at line 311 of file cola_transmitter.cpp.

◆ send() [1/2]

bool sick_scan::ColaTransmitter::send	(	boost::asio::ip::tcp::socket &	socket,
		const std::vector< uint8_t > &	data,
		ROS::Time &	send_timestamp
	)

static

Send data to the localization server.

Parameters

[in]	socket	socket to write to
[in]	data	data to be send
[out]	send_timestamp	send timestamp in seconds (ros timestamp immediately before tcp send)

Returns: true on success, false on failure

Definition at line 137 of file cola_transmitter.cpp.

◆ send() [2/2]

bool sick_scan::ColaTransmitter::send	(	const std::vector< uint8_t > &	data,
		ROS::Time &	send_timestamp
	)

virtual

Send data to the localization server.

Parameters

[in]	data	data to be send
[out]	send_timestamp	send timestamp in seconds (ros timestamp immediately before tcp send)

Returns: true on success, false on failure

Definition at line 125 of file cola_transmitter.cpp.

◆ startReceiverThread()

bool sick_scan::ColaTransmitter::startReceiverThread ( void )

virtual

Starts a thread to receive response telegrams from the localization server. The receiver thread pushes responses to a fifo buffer, which can be popped by waitPopResponse().

Returns: always true

Definition at line 254 of file cola_transmitter.cpp.

◆ stopReceiverThread()

bool sick_scan::ColaTransmitter::stopReceiverThread ( void )

virtual

Stops the thread to receive response telegrams from the localization server (if a thread has been started by startReceiverThread=.

Returns: always true

Definition at line 266 of file cola_transmitter.cpp.

◆ waitPopResponse()

bool sick_scan::ColaTransmitter::waitPopResponse	(	std::vector< uint8_t > &	telegram,
		double	timeout,
		ROS::Time &	receive_timestamp
	)

virtual

Returns a response telegram from the localization server. This function waits with timout, until the receiver thread received a response telegram from the localization server. Note: The receiver thread must have been started by startReceiverThread(), otherwise waitPopResponse() will fail after timout.

Parameters

[out]	telegram	telegram received (Cola-Binary or Cola-Ascii)
[in]	timeout	timeout in seconds
[out]	receive_timestamp	receive timestamp in seconds (ros timestamp immediately after first response byte received)

Returns: true on success, false on failure (connection error or timeout)

Definition at line 288 of file cola_transmitter.cpp.

Member Data Documentation

◆ m_ioservice

boost::asio::io_service sick_scan::ColaTransmitter::m_ioservice

protected

boost io service for tcp connections

Definition at line 192 of file cola_transmitter.h.

◆ m_receive_timeout

double sick_scan::ColaTransmitter::m_receive_timeout

protected

default timeout in seconds for receive functions

Definition at line 194 of file cola_transmitter.h.

◆ m_receiver_thread

boost::thread* sick_scan::ColaTransmitter::m_receiver_thread

protected

thread to receive responses from localization server

Definition at line 196 of file cola_transmitter.h.

◆ m_receiver_thread_running

bool sick_scan::ColaTransmitter::m_receiver_thread_running

protected

true: m_receiver_thread is running, otherwise false

Definition at line 195 of file cola_transmitter.h.

◆ m_response_fifo

sick_scan::FifoBuffer<ColaResponseContainer, boost::mutex> sick_scan::ColaTransmitter::m_response_fifo

protected

fifo buffer for receiver thread for responses from localization server

Definition at line 197 of file cola_transmitter.h.

◆ m_server_adress

std::string sick_scan::ColaTransmitter::m_server_adress

protected

ip adress of the localization controller, default: 192.168.0.1

Definition at line 190 of file cola_transmitter.h.

◆ m_tcp_port

int sick_scan::ColaTransmitter::m_tcp_port

protected

tcp port of the localization controller, default: 2111 for command requests and 2112 for command responses

Definition at line 191 of file cola_transmitter.h.

◆ m_tcp_socket

sick_scan::ClientSocket sick_scan::ColaTransmitter::m_tcp_socket

protected

tcp socket connected to the localization controller

Definition at line 193 of file cola_transmitter.h.

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ColaTransmitter()

◆ ~ColaTransmitter()

Member Function Documentation

◆ close()

◆ connect()

◆ dataEndWithETX()

◆ receive() [1/2]

◆ receive() [2/2]

◆ runReceiverThreadCb()

◆ send() [1/2]

◆ send() [2/2]

◆ startReceiverThread()

◆ stopReceiverThread()

◆ waitPopResponse()

Member Data Documentation

◆ m_ioservice

◆ m_receive_timeout

◆ m_receiver_thread

◆ m_receiver_thread_running

◆ m_response_fifo

◆ m_server_adress

◆ m_tcp_port

◆ m_tcp_socket