cola_transmitter.h

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/*
 * @brief sim_loc_cola_transmitter connects to the localization controller, sends cola command requests,
 * and waits for the response with timeout.
 *
 * Copyright (C) 2019 Ing.-Buero Dr. Michael Lehning, Hildesheim
 * Copyright (C) 2019 SICK AG, Waldkirch
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *       http://www.apache.org/licenses/LICENSE-2.0
 *
 *   Unless required by applicable law or agreed to in writing, software
 *   distributed under the License is distributed on an "AS IS" BASIS,
 *   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *   See the License for the specific language governing permissions and
 *   limitations under the License.
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of SICK AG nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission
 *     * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 *      Authors:
 *         Michael Lehning <michael.lehning@lehning.de>
 *
 *  Copyright 2019 SICK AG
 *  Copyright 2019 Ing.-Buero Dr. Michael Lehning
 *
 */
#ifndef __SIM_LOC_COLA_TRANSMITTER_H_INCLUDED
#define __SIM_LOC_COLA_TRANSMITTER_H_INCLUDED
 
#include "sick_scan/client_socket.h"
#include "sick_scan/fifo_buffer.h"
 
namespace sick_scan
{
  class ColaTransmitter
  {
  public:
    
    ColaTransmitter(const std::string & server_adress = "192.168.0.1", int tcp_port = 2111, double default_receive_timeout = 1);
    
    virtual ~ColaTransmitter();
  
    virtual bool connect(void);
  
    virtual bool close(void);
  
    virtual bool send(const std::vector<uint8_t> & data, ROS::Time & send_timestamp);
  
    static bool send(boost::asio::ip::tcp::socket & socket, const std::vector<uint8_t> & data, ROS::Time & send_timestamp);
    
    virtual bool receive(std::vector<uint8_t> & telegram, double timeout, ROS::Time & receive_timestamp);
  
    static bool receive(boost::asio::ip::tcp::socket & socket, std::vector<uint8_t> & telegram, double timeout,ROS::Time & receive_timestamp);
  
    virtual bool startReceiverThread(void);
  
    virtual bool stopReceiverThread(void);
  
    virtual bool waitPopResponse(std::vector<uint8_t> & telegram, double timeout, ROS::Time & receive_timestamp);
  
  protected:
  
    class ColaResponseContainer
    {
    public:
      ColaResponseContainer(const std::vector<uint8_t> & data = std::vector<uint8_t>(),const ROS::Time & timestamp = ROS::now())
      : telegram_data(data), receive_timestamp(timestamp) {} 
      std::vector<uint8_t> telegram_data; 
      ROS::Time receive_timestamp;        
    };
  
    static bool dataEndWithETX(const std::vector<uint8_t> & data, const std::vector<uint8_t> & etx);
 
    void runReceiverThreadCb(void);
    
    /*
     * member data
     */
 
    std::string m_server_adress;                        
    int m_tcp_port;                                     
    boost::asio::io_service m_ioservice;                
    sick_scan::ClientSocket m_tcp_socket; 
    double m_receive_timeout;                           
    bool m_receiver_thread_running;                     
    boost::thread* m_receiver_thread;                   
    sick_scan::FifoBuffer<ColaResponseContainer, boost::mutex> m_response_fifo; 
  
  }; // class ColaTransmitter
  
} // namespace sick_scan
#endif // __SIM_LOC_COLA_TRANSMITTER_H_INCLUDED