SickScanCommonNw Class Reference

Interface for TCP/IP. More...

#include <sick_scan_common_nw.h>

List of all members.

Public Member Functions
bool	connect ()
	Connects to a sensor via tcp and reads the device name.
bool	disconnect ()
	Closes the connection to the LMS. This is the opposite of init().
bool	init (std::string ipAddress, unsigned short portNumber, Tcp::DisconnectFunction disconnectFunction, void *obj)
bool	isConnected ()
	Returns true if the tcp connection is established.
void	sendCommandBuffer (UINT8 *buffer, UINT16 len)
bool	setReadCallbackFunction (Tcp::ReadFunction readFunction, void *obj)
	SickScanCommonNw ()
	~SickScanCommonNw ()
Protected Types
enum	State { CONSTRUCTED, CONNECTED }
Protected Attributes
State	m_state
Private Member Functions
void	closeTcpConnection ()
void	copyFrameToResposeBuffer (UINT32 frameLength)
SopasEventMessage	findFrameInReceiveBuffer ()
bool	openTcpConnection ()
void	processFrame (SopasEventMessage &frame)
void	readCallbackFunction (UINT8 *buffer, UINT32 &numOfBytes)
void	removeFrameFromReceiveBuffer (UINT32 frameLength)
Static Private Member Functions
static void	readCallbackFunctionS (void *obj, UINT8 *buffer, UINT32 &numOfBytes)
	Function that will be called on incomming data via tcp.
Private Attributes
bool	m_beVerbose
std::string	m_ipAddress
UINT32	m_numberOfBytesInReceiveBuffer
	Number of bytes in buffer.
UINT32	m_numberOfBytesInResponseBuffer
	Number of bytes in buffer.
UINT16	m_portNumber
SopasProtocol	m_protocol
UINT8	m_receiveBuffer [25000]
	Low-Level receive buffer for all data (25000 should be enough for NAV300 Events)
Mutex	m_receiveDataMutex
	Access mutex for buffer.
UINT8	m_responseBuffer [1024]
	Receive buffer for everything except scan data and eval case data.
Tcp	m_tcp

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Detailed Description

Interface for TCP/IP.

This class provides an interface for TCP/IP communication. It also contains simple methods for accessing the essential contents of the SOPAS message (for example, determining the payload and the SOPAS command used). It based on an example of SICK AG.

Doxygen example: http://www-numi.fnal.gov/offline_software/srt_public_context/WebDocs/doxygen-howto.html

Definition at line 36 of file sick_scan_common_nw.h.

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Member Enumeration Documentation

enum SickScanCommonNw::State [protected]

Enumerator:

CONSTRUCTED	Object has been constructed. Use init() to go into CONNECTED state. Object is now connected. Use run() to go into RUNNING state, or disconnect() to go back into CONSTRUCTED state.
CONNECTED	Object is connected and emitting data. Use stop() to go back into CONNECTED, or disconnect() to go back into CONSTRUCTED state.

Definition at line 106 of file sick_scan_common_nw.h.

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Constructor & Destructor Documentation

SickScanCommonNw::SickScanCommonNw

(

)

Definition at line 35 of file sick_scan_common_nw.cpp.

SickScanCommonNw::~SickScanCommonNw

(

)

Definition at line 42 of file sick_scan_common_nw.cpp.

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Member Function Documentation

void SickScanCommonNw::closeTcpConnection

(

)

[private]

Definition at line 159 of file sick_scan_common_nw.cpp.

bool SickScanCommonNw::connect

(

)

Connects to a sensor via tcp and reads the device name.

Definition at line 96 of file sick_scan_common_nw.cpp.

void SickScanCommonNw::copyFrameToResposeBuffer

(

UINT32

frameLength

)

[private]

Definition at line 458 of file sick_scan_common_nw.cpp.

bool SickScanCommonNw::disconnect

(

)

Closes the connection to the LMS. This is the opposite of init().

Switches this device from the CONNECTED state back in the CONSTRUCTED state.

Returns:

True if the device is now in the CONSTRUCTED state

Definition at line 56 of file sick_scan_common_nw.cpp.

SopasEventMessage SickScanCommonNw::findFrameInReceiveBuffer

(

)

[private]

Definition at line 250 of file sick_scan_common_nw.cpp.

bool SickScanCommonNw::init	(	std::string	ipAddress,
		unsigned short	portNumber,
		Tcp::DisconnectFunction	disconnectFunction,
		void *	obj
	)

Definition at line 70 of file sick_scan_common_nw.cpp.

bool SickScanCommonNw::isConnected

(

)

Returns true if the tcp connection is established.

Definition at line 126 of file sick_scan_common_nw.cpp.

bool SickScanCommonNw::openTcpConnection

(

)

[private]

Open TCP-connection to endpoint (usually IP-address and port)

true = Connected, false = no connection

Definition at line 140 of file sick_scan_common_nw.cpp.

void SickScanCommonNw::processFrame

(

SopasEventMessage &

frame

)

[private]

Reads one frame from receive buffer and decodes it. Switches directly to the decoder of the protocol.

Definition at line 437 of file sick_scan_common_nw.cpp.

void SickScanCommonNw::readCallbackFunction	(	UINT8 *	buffer,
		UINT32 &	numOfBytes
	)		[private]

Read callback. Diese Funktion wird aufgerufen, sobald Daten auf der Schnittstelle hereingekommen sind.

Definition at line 180 of file sick_scan_common_nw.cpp.

void SickScanCommonNw::readCallbackFunctionS	(	void *	obj,
		UINT8 *	buffer,
		UINT32 &	numOfBytes
	)		[static, private]

Function that will be called on incomming data via tcp.

Definition at line 170 of file sick_scan_common_nw.cpp.

void SickScanCommonNw::removeFrameFromReceiveBuffer

(

UINT32

frameLength

)

[private]

Definition at line 484 of file sick_scan_common_nw.cpp.

void SickScanCommonNw::sendCommandBuffer	(	UINT8 *	buffer,
		UINT16	len
	)

Send contents of buffer to scanner using according framing.

Send buffer is limited to 1024 byte!

Definition at line 424 of file sick_scan_common_nw.cpp.

bool SickScanCommonNw::setReadCallbackFunction	(	Tcp::ReadFunction	readFunction,
		void *	obj
	)

Definition at line 82 of file sick_scan_common_nw.cpp.

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Member Data Documentation

bool SickScanCommonNw::m_beVerbose [private]

Definition at line 79 of file sick_scan_common_nw.h.

std::string SickScanCommonNw::m_ipAddress [private]

Definition at line 98 of file sick_scan_common_nw.h.

UINT32 SickScanCommonNw::m_numberOfBytesInReceiveBuffer [private]

Number of bytes in buffer.

Definition at line 91 of file sick_scan_common_nw.h.

UINT32 SickScanCommonNw::m_numberOfBytesInResponseBuffer [private]

Number of bytes in buffer.

Definition at line 86 of file sick_scan_common_nw.h.

UINT16 SickScanCommonNw::m_portNumber [private]

Definition at line 99 of file sick_scan_common_nw.h.

SopasProtocol SickScanCommonNw::m_protocol [private]

Definition at line 100 of file sick_scan_common_nw.h.

UINT8 SickScanCommonNw::m_receiveBuffer[25000] [private]

Low-Level receive buffer for all data (25000 should be enough for NAV300 Events)

Definition at line 92 of file sick_scan_common_nw.h.

Mutex SickScanCommonNw::m_receiveDataMutex [private]

Access mutex for buffer.

Definition at line 88 of file sick_scan_common_nw.h.

UINT8 SickScanCommonNw::m_responseBuffer[1024] [private]

Receive buffer for everything except scan data and eval case data.

Definition at line 87 of file sick_scan_common_nw.h.

State SickScanCommonNw::m_state [protected]

Definition at line 119 of file sick_scan_common_nw.h.

Tcp SickScanCommonNw::m_tcp [private]

Definition at line 97 of file sick_scan_common_nw.h.

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

• sick_scan_common_nw.h
• sick_scan_common_nw.cpp