#include <SopasBase.hpp>

Public Types
typedef void(*	DecoderFunction )(SopasEventMessage &frame)
enum	SopasEncoding { ByName, ByIndex }
enum	SopasMessageType { MSG_UNKNOWN, MSG_SEND_EVENT, MSG_READ_VARIABLE_ANSWER, MSG_WRITE_VARIABLE_ANSWER, MSG_INVOKE_METHOD_ANSWER, MSG_METHOD_RESULT_ANSWER, MSG_REGISTER_EVENT_ANSWER, MSG_EVENT_ACKNOWLEDGE, MSG_ERROR }
	types of answers of the sensor More...
enum	SopasProtocol { CoLa_A, CoLa_B }
Public Member Functions
bool	action_getScannerTypeAndVersion ()
	Reads the scanner type and version variable from the sensor and stores it in the member variables. This is done always by name.
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().
const std::string &	getScannerName () const
const std::string &	getScannerVersion () const
virtual bool	init (SopasProtocol protocol, std::string ipAddress, UINT16 portNumber, bool weWantScanData, bool weWantFieldData, bool readOnlyMode, Tcp::DisconnectFunction disconnectFunction, void *obj)
	Initialization.
bool	invokeMethod (const std::string &methodeName, BYTE parameters, UINT16 parametersLength, SopasAnswer &answer)
	Invoke a method on the sensor.
bool	invokeMethod (UINT16 index, BYTE parameters, UINT16 parametersLength, SopasAnswer &answer)
	Invoke a method on the sensor.
bool	isConnected ()
	Returns true if the tcp connection is established.
bool	isReadOnly ()
double	makeAngleValid (double angle)
bool	readVariable (const std::string &variableName, SopasAnswer *&answer)
	Reads a variable from the sensor by name.
bool	readVariable (UINT16 index, SopasAnswer *&answer)
	Reads a variable from the sensor by index.
bool	registerEvent (const std::string &eventName)
	Registers an event by name.
bool	registerEvent (UINT16 index)
	Registers an event by index.
void	setEventCallbackFunction (DecoderFunction decoderFunction, const std::string &eventName)
void	setEventCallbackFunction (DecoderFunction decoderFunction, UINT16 eventIndex)
void	setReadOnlyMode (bool mode)
	SopasBase ()
	Default constructor.
bool	unregisterEvent (const std::string &eventName)
	Unregisters an event by name.
bool	unregisterEvent (UINT16 index)
	Unregisters an event by index.
bool	writeVariable (const std::string &variableName, BYTE *parameters, UINT16 parametersLength)
	Write a variable to the sensor by name.
bool	writeVariable (UINT16 index, BYTE *parameters, UINT16 parametersLength)
	Write a variable to the sensor by index.
virtual	~SopasBase ()
	Destructor.
Static Public Member Functions
static std::string	convertSopasErrorCodeToText (UINT16 errorCode)
Static Public Attributes
static const std::string	COMMAND_Event_Acknowledge
static const std::string	COMMAND_Invoke_Method_Answer
static const std::string	COMMAND_Invoke_Method_ByIndex
static const std::string	COMMAND_Invoke_Method_ByName
static const std::string	COMMAND_Method_Result_Answer
static const std::string	COMMAND_Method_Result_ByIndex
static const std::string	COMMAND_Method_Result_ByName
static const std::string	COMMAND_Read_Variable_Answer
static const std::string	COMMAND_Read_Variable_ByIndex
static const std::string	COMMAND_Read_Variable_ByName
static const std::string	COMMAND_Register_Event_Answer
static const std::string	COMMAND_Register_Event_ByIndex
static const std::string	COMMAND_Register_Event_ByName
static const std::string	COMMAND_Send_Event_ByIndex
static const std::string	COMMAND_Send_Event_ByName
static const std::string	COMMAND_Write_Variable_Answer
static const std::string	COMMAND_Write_Variable_ByIndex
static const std::string	COMMAND_Write_Variable_ByName
static const std::string	EVENTNAME_SUBSCRIBE_EVALCASES
static const std::string	EVENTNAME_SUBSCRIBE_SCANS
static const UINT16	INDEX_DEVICE_IDENT = 0
static const std::string	METHODNAME_LOGIN
static const std::string	METHODNAME_LOGOUT
static const std::string	METHODNAME_SET_SCANCONFIG
static const std::string	METHODNAME_START_MEASURE
static const std::string	METHODNAME_STOP_MEASURE
static const std::string	VARIABLENAME_DATAOUTPUTRANGE
static const std::string	VARIABLENAME_DEVICEIDENT
static const std::string	VARIABLENAME_SCANCONFIG
static const std::string	VARIABLENAME_SCANDATACONFIG
Protected Types
enum	SopasCommand { CMD_UNKNOWN = 0, RI = 1, WI = 2, MI = 3, AI = 4, EI = 5, SI = 6, RA = 7, WA = 8, MA = 9, AA = 10, EA = 11, SA = 12, RN = 20, AN = 21, SN = 22, FA = 50 }
enum	State { CONSTRUCTED, CONNECTED }
Protected Member Functions
SopasCommand	colaA_decodeCommand (std::string *rxData)
virtual void	evalCaseResultDecoder (SopasEventMessage &msg)=0
bool	receiveAnswer (SopasCommand cmd, std::string name, UINT32 timeout, SopasAnswer *&answer)
	Take answer from read thread and decode it. Waits for a certain answer by name. Event data (scans) are filtered and processed by read thread.
bool	receiveAnswer (SopasCommand cmd, UINT16 index, UINT32 timeout, SopasAnswer *&answer)
bool	receiveAnswer_CoLa_A (SopasCommand cmd, std::string name, UINT32 timeout, SopasAnswer *&answer)
bool	receiveAnswer_CoLa_A (SopasCommand cmd, UINT16 index, UINT32 timeout, SopasAnswer *&answer)
bool	receiveAnswer_CoLa_B (SopasCommand cmd, std::string name, UINT32 timeout, SopasAnswer *&answer)
bool	receiveAnswer_CoLa_B (SopasCommand cmd, UINT16 index, UINT32 timeout, SopasAnswer *&answer)
virtual void	scanDataDecoder (SopasEventMessage &msg)=0
void	sendCommandBuffer (UINT8 *buffer, UINT16 len)
	Sends the content of the buffer via TCP to the sensor.
std::string	sopasCommandToString (SopasCommand cmd)
SopasCommand	stringToSopasCommand (const std::string &cmdString)
	Converts strings in sopas answer buffer to SopasCommand enum.
Protected Attributes
bool	m_beVerbose
bool	m_fieldEventIsRegistered
bool	m_isLoggedIn
bool	m_scanEventIsRegistered
std::string	m_scannerName
	Read from scanner.
std::string	m_scannerVersion
	Read from scanner.
State	m_state
	Device info.
bool	m_weWantFieldData
	Flag to enable/disable protection field data reception.
bool	m_weWantScanData
	Flag to enable/disable scan data reception.
Private Types
typedef std::map< UINT16, DecoderFunction >	DecoderFunctionMapByIndex
typedef std::map< std::string, DecoderFunction >	DecoderFunctionMapByName
typedef std::map< UINT16, std::string >	IndexToNameMap
Private Member Functions
void	closeTcpConnection ()
void	colaA_decodeScannerTypeAndVersion (std::string *rxData)
void	colaB_decodeScannerTypeAndVersion (UINT8 *buffer, UINT16 pos)
void	copyFrameToResposeBuffer (UINT32 frameLength)
SopasEventMessage	findFrameInReceiveBuffer ()
	Depending on the protocol the start and end of a frame will be found.
bool	openTcpConnection ()
void	processFrame (SopasEventMessage &frame)
	Reads one frame from receive buffer and decodes it.
void	processFrame_CoLa_A (SopasEventMessage &frame)
void	processFrame_CoLa_B (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
DecoderFunctionMapByIndex	m_decoderFunctionMapByIndex
DecoderFunctionMapByName	m_decoderFunctionMapByName
SopasEncoding	m_encoding
	ByName or ByIndex.
IndexToNameMap	m_indexToNameMap
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
	Used protocol (ColaA oder ColaB)
bool	m_readOnlyMode
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

Detailed Description

Class SopasBase encapsuls the communication to a sensor via SopasProtocol. It offers the functions:

invokeMethode
readVariable
writeVariable
(un)registerEvent

Callback functions are used to inform you about incoming events (scans or eval cases).

Definition at line 35 of file SopasBase.hpp.

Member Typedef Documentation

typedef void(* devices::SopasBase::DecoderFunction)(SopasEventMessage &frame)

Definition at line 106 of file SopasBase.hpp.

typedef std::map<UINT16, DecoderFunction> devices::SopasBase::DecoderFunctionMapByIndex [private]

Definition at line 387 of file SopasBase.hpp.

typedef std::map<std::string, DecoderFunction> devices::SopasBase::DecoderFunctionMapByName [private]

Definition at line 386 of file SopasBase.hpp.

typedef std::map<UINT16, std::string> devices::SopasBase::IndexToNameMap [private]

Definition at line 394 of file SopasBase.hpp.

Member Enumeration Documentation

enum devices::SopasBase::SopasCommand [protected]

Enumerator:

CMD_UNKNOWN	Unknown command.
RI	Read Variable.
WI	Write Variable.
MI	Invoke Method.
AI	Method Result.
EI	Register Event.
SI	Send Event.
RA	Read Variable Answer.
WA	Write Variable Answer.
MA	Invoke Method Answer.
AA	Method Result Answer.
EA	Register Event Answer.
SA	Event Acknowledge.
RN	Read Variable (by name)
AN	Method Result (ny name)
SN	Send Event (by name, receive)
FA	Error.

Definition at line 276 of file SopasBase.hpp.

enum devices::SopasBase::SopasEncoding

Enumerator:

ByName	read/write variable, invoke methods by name
ByIndex	read/write variable, invoke methods by index (indexes will be generated !!!)

Definition at line 80 of file SopasBase.hpp.

enum devices::SopasBase::SopasMessageType

types of answers of the sensor

Enumerator:

MSG_UNKNOWN	Unknown message.
MSG_SEND_EVENT	Send Event.
MSG_READ_VARIABLE_ANSWER	Read Variable Answer.
MSG_WRITE_VARIABLE_ANSWER	Write Variable Answer.
MSG_INVOKE_METHOD_ANSWER	Invoke Method Answer.
MSG_METHOD_RESULT_ANSWER	Method Result Answer.
MSG_REGISTER_EVENT_ANSWER	Register Event Answer.
MSG_EVENT_ACKNOWLEDGE	Event Acknowledge -Answer to register event.
MSG_ERROR	Error.

Definition at line 87 of file SopasBase.hpp.

enum devices::SopasBase::SopasProtocol

Enumerator:

CoLa_A	Command Language ASCI.
CoLa_B	Command Language binary.

Definition at line 74 of file SopasBase.hpp.

enum devices::SopasBase::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 298 of file SopasBase.hpp.

Constructor & Destructor Documentation

devices::SopasBase::SopasBase ( )

Default constructor.

Definition at line 57 of file SopasBase.cpp.

devices::SopasBase::~SopasBase ( ) [virtual]

Destructor.

Definition at line 67 of file SopasBase.cpp.

Member Function Documentation

bool devices::SopasBase::action_getScannerTypeAndVersion ( )

Reads the scanner type and version variable from the sensor and stores it in the member variables. This is done always by name.

Returns:: true if no errors occurred.

Get scanner type and version string Also used as connection check.

true: Information was read, false if an error occured

Definition at line 1548 of file SopasBase.cpp.

void devices::SopasBase::closeTcpConnection ( ) [private]

Definition at line 238 of file SopasBase.cpp.

SopasBase::SopasCommand devices::SopasBase::colaA_decodeCommand ( std::string * rxData ) [protected]

Read command bytes from buffer (2 bytes followed by space) and convert string to enum value accordingly. The command string is removed from input.

Definition at line 1368 of file SopasBase.cpp.

void devices::SopasBase::colaA_decodeScannerTypeAndVersion ( std::string * rxData ) [private]

Decode answer for action_getScannerTypeAndVersion

Definition at line 1596 of file SopasBase.cpp.

void devices::SopasBase::colaB_decodeScannerTypeAndVersion	(	UINT8 *	buffer,
		UINT16	pos
	)		`[private]`

Definition at line 1626 of file SopasBase.cpp.

bool devices::SopasBase::connect ( )

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

Definition at line 122 of file SopasBase.cpp.

std::string devices::SopasBase::convertSopasErrorCodeToText ( UINT16 errorCode ) [static]

Definition at line 916 of file SopasBase.cpp.

void devices::SopasBase::copyFrameToResposeBuffer ( UINT32 frameLength ) [private]

Definition at line 1315 of file SopasBase.cpp.

bool devices::SopasBase::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 185 of file SopasBase.cpp.

virtual void devices::SopasBase::evalCaseResultDecoder ( SopasEventMessage & msg ) [protected, pure virtual]

SopasEventMessage devices::SopasBase::findFrameInReceiveBuffer ( ) [private]

Depending on the protocol the start and end of a frame will be found.

Definition at line 331 of file SopasBase.cpp.

const std::string& devices::SopasBase::getScannerName ( void ) const [inline]

Definition at line 268 of file SopasBase.hpp.

const std::string& devices::SopasBase::getScannerVersion ( ) const [inline]

Definition at line 269 of file SopasBase.hpp.

bool devices::SopasBase::init	(	SopasProtocol	protocol,
		std::string	ipAddress,
		UINT16	portNumber,
		bool	weWantScanData,
		bool	weWantFieldData,
		bool	readOnlyMode,
		Tcp::DisconnectFunction	disconnectFunction,
		void *	obj
	)		`[virtual]`

Initialization.

Parameters:

protocol
ipAddress	IP-adress of the Scanner
portNumber	port for SOPAS comunication
weWantScanData
weWantFieldData
readOnlyMode
disconnectFunction	Function to be called on disconnect events.
obj	= pointer to the object that holds the disconnectFunction

Returns:

Definition at line 94 of file SopasBase.cpp.

bool devices::SopasBase::invokeMethod	(	const std::string &	methodeName,
		BYTE *	parameters,
		UINT16	parametersLength,
		SopasAnswer *&	answer
	)

Invoke a method on the sensor.

Parameters:

methodeName	name of the method to call
parameters	byte buffer with parameter (NOTE: you have to fill this buffer with the correct protocol - cola-a or cola-b)
parametersLength	length of the byte buffer
answer	pointer to an answer message (NOTE: memory for this object will be allocated - free this after usage !!!)

Returns:: true if no errors occurred.

Definition at line 1648 of file SopasBase.cpp.

bool devices::SopasBase::invokeMethod	(	UINT16	index,
		BYTE *	parameters,
		UINT16	parametersLength,
		SopasAnswer *&	answer
	)

Invoke a method on the sensor.

Parameters:

index	index of the method to call
parameters	byte buffer with parameter (NOTE: you have to fill this buffer with the correct protocol - cola-a or cola-b)
parametersLength	length of the byte buffer
answer	pointer to an answer message (NOTE: memory for this object will be allocated - free this after usage !!!)

Returns:: true if no errors occurred.

Definition at line 1705 of file SopasBase.cpp.

bool devices::SopasBase::isConnected ( )

Returns true if the tcp connection is established.

Definition at line 177 of file SopasBase.cpp.

bool devices::SopasBase::isReadOnly ( )

Definition at line 207 of file SopasBase.cpp.

double devices::SopasBase::makeAngleValid ( double angle )

Map angle to range ]PI..-PI]

Definition at line 2146 of file SopasBase.cpp.

bool devices::SopasBase::openTcpConnection ( ) [private]

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

true = Connected, false = no connection

Definition at line 219 of file SopasBase.cpp.

void devices::SopasBase::processFrame ( SopasEventMessage & frame ) [private]

Reads one frame from receive buffer and decodes it.

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

Definition at line 1123 of file SopasBase.cpp.

void devices::SopasBase::processFrame_CoLa_A ( SopasEventMessage & frame ) [private]

Definition at line 1145 of file SopasBase.cpp.

void devices::SopasBase::processFrame_CoLa_B ( SopasEventMessage & frame ) [private]

Definition at line 1234 of file SopasBase.cpp.

void devices::SopasBase::readCallbackFunction	(	UINT8 *	buffer,
		UINT32 &	numOfBytes
	)		`[private]`

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

Definition at line 259 of file SopasBase.cpp.

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

Function that will be called on incomming data via tcp.

Definition at line 249 of file SopasBase.cpp.

bool devices::SopasBase::readVariable	(	const std::string &	variableName,
		SopasAnswer *&	answer
	)

Reads a variable from the sensor by name.

Parameters:

variableName	name of the variable
answer	pointer to an answer message (NOTE: memory for this object will be allocated - free this after usage !!!)

Returns:: true if no errors occurred.

Definition at line 1754 of file SopasBase.cpp.

bool devices::SopasBase::readVariable	(	UINT16	index,
		SopasAnswer *&	answer
	)

Reads a variable from the sensor by index.

Parameters:

index	of the variable
answer

Returns:: true if no errors occurred.

Definition at line 1796 of file SopasBase.cpp.

bool devices::SopasBase::receiveAnswer	(	SopasCommand	cmd,
		std::string	name,
		UINT32	timeout,
		SopasAnswer *&	answer
	)		`[protected]`

Take answer from read thread and decode it. Waits for a certain answer by name. Event data (scans) are filtered and processed by read thread.

Parameters:

cmd	Waits for the answer to this command.
name	name of the method/variable.
timeout	in [ms]
answer	Pointer to answer. Will be filled if answer contains parameter.

Returns:: true if no error occurred.

Take answer from read thread and decode it. Waits for a certain answer by name. Event data (scans) are filtered and processed by read thread.

By Name: name = "<Name>" timeout: Number of cycles to check for an answer (approx. 1ms per cycle)

Definition at line 539 of file SopasBase.cpp.

bool devices::SopasBase::receiveAnswer	(	SopasCommand	cmd,
		UINT16	index,
		UINT32	timeout,
		SopasAnswer *&	answer
	)		`[protected]`

Take answer from read thread and decode it. Waits for a certain answer by index. Event data (scans) are filtered and processed by read thread.

By Name: index = "<Index>" timeout: Number of cycles to check for an answer (approx. 1ms per cycle)

Definition at line 566 of file SopasBase.cpp.

bool devices::SopasBase::receiveAnswer_CoLa_A	(	SopasCommand	cmd,
		std::string	name,
		UINT32	timeout,
		SopasAnswer *&	answer
	)		`[protected]`

Definition at line 685 of file SopasBase.cpp.

bool devices::SopasBase::receiveAnswer_CoLa_A	(	SopasCommand	cmd,
		UINT16	index,
		UINT32	timeout,
		SopasAnswer *&	answer
	)		`[protected]`

Definition at line 587 of file SopasBase.cpp.

bool devices::SopasBase::receiveAnswer_CoLa_B	(	SopasCommand	cmd,
		std::string	name,
		UINT32	timeout,
		SopasAnswer *&	answer
	)		`[protected]`

Definition at line 781 of file SopasBase.cpp.

bool devices::SopasBase::receiveAnswer_CoLa_B	(	SopasCommand	cmd,
		UINT16	index,
		UINT32	timeout,
		SopasAnswer *&	answer
	)		`[protected]`

Definition at line 984 of file SopasBase.cpp.

bool devices::SopasBase::registerEvent ( const std::string & eventName )

Registers an event by name.

Parameters:

eventName name of the event

Returns:: true if no errors occurred.

Definition at line 1961 of file SopasBase.cpp.

bool devices::SopasBase::registerEvent ( UINT16 index )

Registers an event by index.

Parameters:

index of the event.

Returns:: true if no errors occurred.

Definition at line 2005 of file SopasBase.cpp.

void devices::SopasBase::removeFrameFromReceiveBuffer ( UINT32 frameLength ) [private]

Definition at line 1341 of file SopasBase.cpp.

virtual void devices::SopasBase::scanDataDecoder ( SopasEventMessage & msg ) [protected, pure virtual]

void devices::SopasBase::sendCommandBuffer	(	UINT8 *	buffer,
		UINT16	len
	)		`[protected]`

Sends the content of the buffer via TCP to the sensor.

Parameters:

buffer	pointer to the buffer
len	length of buffer to be sent.

Send contents of buffer to scanner using according framing.

Send buffer is limited to 1024 byte!

Definition at line 505 of file SopasBase.cpp.

void devices::SopasBase::setEventCallbackFunction	(	DecoderFunction	decoderFunction,
		const std::string &	eventName
	)		`[inline]`

Parameters:

decoderFunction
eventName

Definition at line 250 of file SopasBase.hpp.

void devices::SopasBase::setEventCallbackFunction	(	DecoderFunction	decoderFunction,
		UINT16	eventIndex
	)		`[inline]`

Parameters:

decoderFunction
eventIndex

Definition at line 260 of file SopasBase.hpp.

void devices::SopasBase::setReadOnlyMode ( bool mode )

Definition at line 200 of file SopasBase.cpp.

std::string devices::SopasBase::sopasCommandToString ( SopasCommand cmd ) [protected]

Definition at line 1460 of file SopasBase.cpp.

SopasBase::SopasCommand devices::SopasBase::stringToSopasCommand ( const std::string & cmdString ) [protected]

Converts strings in sopas answer buffer to SopasCommand enum.

Definition at line 1375 of file SopasBase.cpp.

bool devices::SopasBase::unregisterEvent ( const std::string & eventName )

Unregisters an event by name.

Parameters:

eventName name of the event

Returns:: true if no errors occurred.

Definition at line 2102 of file SopasBase.cpp.

bool devices::SopasBase::unregisterEvent ( UINT16 index )

Unregisters an event by index.

Parameters:

index of the event

Returns:: true if no errors occurred.

Definition at line 2053 of file SopasBase.cpp.

bool devices::SopasBase::writeVariable	(	const std::string &	variableName,
		BYTE *	parameters,
		UINT16	parametersLength
	)

Write a variable to the sensor by name.

Parameters:

variableName	name of the variable.
parameters	byte buffer with parameter (NOTE: you have to fill this buffer with the correct protocol - cola-a or cola-b)
parametersLength	length of the byte buffer

Returns:: true if no errors occurred.

Definition at line 1834 of file SopasBase.cpp.

bool devices::SopasBase::writeVariable	(	UINT16	index,
		BYTE *	parameters,
		UINT16	parametersLength
	)

Write a variable to the sensor by index.

Parameters:

index	of the variable
parameters	byte buffer with parameter (NOTE: you have to fill this buffer with the correct protocol - cola-a or cola-b)
parametersLength	length of the byte buffer