Provides an abstract parent for all Sick messages. More...

#include <SickMessage.hh>

Public Member Functions
void	BuildMessage (const uint8_t *const payload_buffer, const unsigned int payload_length)
	Constructs a Sick message given the parameter values.
virtual void	Clear ()
	Reset all internal fields and buffers.
void	GetMessage (uint8_t *const message_buffer) const
	Get the message as a sequence of well-formed bytes.
unsigned int	GetMessageLength () const
void	GetPayload (uint8_t *const payload_buffer) const
	Get the payload contents as a sequence of well-formed bytes.
void	GetPayloadAsCStr (char *const payload_str) const
unsigned int	GetPayloadLength () const
void	GetPayloadSubregion (uint8_t *const payload_sub_buffer, const unsigned int start_idx, const unsigned int stop_idx) const
	Get a specified sub-region of the payload buffer.
bool	IsPopulated () const
virtual void	ParseMessage (const uint8_t *const message_buffer)=0
	Parses a sequence of bytes into a Sick message.
virtual void	Print () const
	Print data about this object.
	SickMessage ()
	A default constructor.
virtual	~SickMessage ()
	A destructor.
Static Public Attributes
static const unsigned int	MESSAGE_HEADER_LENGTH = MSG_HEADER_LENGTH
static const unsigned int	MESSAGE_MAX_LENGTH = MESSAGE_HEADER_LENGTH + MESSAGE_PAYLOAD_MAX_LENGTH + MESSAGE_TRAILER_LENGTH
static const unsigned int	MESSAGE_PAYLOAD_MAX_LENGTH = MSG_PAYLOAD_MAX_LENGTH
static const unsigned int	MESSAGE_TRAILER_LENGTH = MSG_TRAILER_LENGTH
Protected Attributes
uint8_t	_message_buffer [MESSAGE_MAX_LENGTH]
unsigned int	_message_length
unsigned int	_payload_length
bool	_populated

Detailed Description

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>
class SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >

Provides an abstract parent for all Sick messages.

Definition at line 32 of file SickMessage.hh.

Constructor & Destructor Documentation

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::SickMessage ( )

A default constructor.

A standard constructor

Definition at line 103 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::~SickMessage ( ) [virtual]

A destructor.

A virtual destructor

Definition at line 226 of file SickMessage.hh.

Member Function Documentation

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::BuildMessage	(	const uint8_t *const	payload_buffer,
		const unsigned int	payload_length
	)

Constructs a Sick message given the parameter values.

Construct a well-formed Sick message

Parameters:

*payload_buffer	The payload of the message as an array of bytes
payload_length	The length of the payload in bytes

Reimplemented in SickToolbox::SickLMS1xxMessage, and SickToolbox::SickLDMessage.

Definition at line 111 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::Clear ( ) [virtual]

Reset all internal fields and buffers.

Clear the contents of the message container/object

Reimplemented in SickToolbox::SickLMS2xxMessage, and SickToolbox::SickLMS1xxMessage.

Definition at line 185 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetMessage ( uint8_t *const message_buffer ) const

Get the message as a sequence of well-formed bytes.

Returns a copy of the raw message buffer

Parameters:

*message_buffer Destination buffer for message contents

Definition at line 147 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetMessageLength ( ) const [inline]

Resturns the total message length in bytes

Definition at line 55 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetPayload ( uint8_t *const payload_buffer ) const

Get the payload contents as a sequence of well-formed bytes.

Returns a copy of the raw message payload

Parameters:

*payload_buffer Destination buffer for message payload contents

Definition at line 156 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetPayloadAsCStr ( char *const payload_buffer ) const

Returns a copy of the payload as a C String

Definition at line 162 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetPayloadLength ( ) const [inline]

Returns the total payload length in bytes

Definition at line 68 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetPayloadSubregion	(	uint8_t *const	payload_sub_buffer,
		const unsigned int	start_idx,
		const unsigned int	stop_idx
	)		const

Get a specified sub-region of the payload buffer.

Returns a subregion of the payload specified by indices

Parameters:

*payload_sub_buffer	Destination buffer for message payload contents
*start_idx	The 0-indexed starting location for copying
*stop_idx	The 0-indexed stopping location for copying

Definition at line 174 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

bool SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::IsPopulated ( ) const [inline]

Indicates whether the message container is populated

Definition at line 71 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::ParseMessage ( const uint8_t *const message_buffer ) [pure virtual]

Parses a sequence of bytes into a Sick message.

Populates fields given a sequence of bytes representing a raw message

Parameters:

*message_buffer A well-formed message to be parsed into the class' fields

Implemented in SickToolbox::SickLMS2xxMessage, SickToolbox::SickLMS1xxMessage, and SickToolbox::SickLDMessage.

Definition at line 133 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::Print ( ) const [virtual]

Print data about this object.

Print the contents of the message

Reimplemented in SickToolbox::SickLMS2xxMessage, SickToolbox::SickLMS1xxMessage, and SickToolbox::SickLDMessage.

Definition at line 201 of file SickMessage.hh.

Member Data Documentation

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

uint8_t SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::_message_buffer[MESSAGE_MAX_LENGTH] [protected]

The message as a raw sequence of bytes

Definition at line 91 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::_message_length [protected]

The length of the message in bytes

Definition at line 88 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::_payload_length [protected]

The length of the message payload in bytes

Definition at line 85 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

bool SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::_populated [protected]

Indicates whether the message container/object is populated

Definition at line 94 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

const unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::MESSAGE_HEADER_LENGTH = MSG_HEADER_LENGTH [static]

Some constants to make things more manageable

Definition at line 37 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

const unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::MESSAGE_MAX_LENGTH = MESSAGE_HEADER_LENGTH + MESSAGE_PAYLOAD_MAX_LENGTH + MESSAGE_TRAILER_LENGTH [static]

Definition at line 40 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

const unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::MESSAGE_PAYLOAD_MAX_LENGTH = MSG_PAYLOAD_MAX_LENGTH [static]

Definition at line 39 of file SickMessage.hh.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

const unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::MESSAGE_TRAILER_LENGTH = MSG_TRAILER_LENGTH [static]

Definition at line 38 of file SickMessage.hh.

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

SickMessage.hh

Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH> class SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>
class SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >