SickLMS1xxMessage.hh
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00001 
00016 #ifndef SICK_LMS_1XX_MESSAGE_HH
00017 #define SICK_LMS_1XX_MESSAGE_HH
00018 
00019 /* Macros */
00020 #define SICK_LMS_1XX_MSG_HEADER_LEN             (1)  ///< Sick LMS 1xx message header length in bytes
00021 #define SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN    (30000)  ///< Sick LMS 1xx maximum payload length
00022 #define SICK_LMS_1XX_MSG_TRAILER_LEN            (1)  ///< Sick LMS 1xx length of the message trailer
00023 
00024 /* Definition dependencies */
00025 #include <string.h>
00026 #include <arpa/inet.h>
00027 #include "SickMessage.hh"
00028 #include "SickException.hh"
00029 
00030 /* Associate the namespace */
00031 namespace SickToolbox {
00032 
00037   class SickLMS1xxMessage : public SickMessage< SICK_LMS_1XX_MSG_HEADER_LEN, SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_1XX_MSG_TRAILER_LEN > {
00038   
00039   public:
00040     
00042     SickLMS1xxMessage( );
00043     
00045     SickLMS1xxMessage( const uint8_t * const payload_buffer, const unsigned int payload_length );
00046     
00048     SickLMS1xxMessage( const uint8_t * const message_buffer );
00049     
00051     void BuildMessage( const uint8_t * const payload_buffer, const unsigned int payload_length );
00052     
00054     void ParseMessage( const uint8_t * const message_buffer ) throw ( SickIOException );
00055     
00057     std::string GetCommandType( ) const { return _command_type; }
00058     
00060     std::string GetCommand( ) const { return _command; }
00061 
00063     void Clear( );
00064     
00066     void Print( ) const;
00067     
00069     ~SickLMS1xxMessage( );
00070 
00071   private:
00072 
00074     std::string _command_type;
00075     
00077     std::string _command;
00078     
00079   };
00080   
00081 } /* namespace SickToolbox */
00082 
00083 #endif /* SICK_LMS_1XX_MESSAGE_HH */


sicktoolbox
Author(s): Jason Derenick , Thomas Miller
autogenerated on Thu Aug 27 2015 15:17:16