#include <sick_scan_common_tcp.h>

Inheritance diagram for sick_scan::SickScanCommonTcp:

Public Member Functions
SopasEventMessage	findFrameInReceiveBuffer ()
bool	getEmulSensor ()
	get emulation flag (using emulation instead of "real" scanner - currently implemented for radar
int	getReplyMode ()
int	numberOfDatagramInInputFifo ()
void	processFrame (ros::Time timeStamp, SopasEventMessage &frame)
void	readCallbackFunction (UINT8 *buffer, UINT32 &numOfBytes)
void	setEmulSensor (bool _emulFlag)
	Set emulation flag (using emulation instead of "real" scanner - currently implemented for radar.
void	setReplyMode (int _mode)
	SickScanCommonTcp (const std::string &hostname, const std::string &port, int &timelimit, SickGenericParser *parser, char cola_dialect_id)
bool	stopScanData ()
virtual	~SickScanCommonTcp ()
Static Public Member Functions
static void	disconnectFunctionS (void *obj)
static void	readCallbackFunctionS (void obj, UINT8 buffer, UINT32 &numOfBytes)
Public Attributes
UINT32	m_alreadyReceivedBytes
UINT32	m_lastPacketSize
UINT8	m_packetBuffer [480000]
Queue< DatagramWithTimeStamp >	recvQueue
Protected Member Functions
void	checkDeadline ()
virtual int	close_device ()
void	disconnectFunction ()
virtual int	get_datagram (ros::Time &recvTimeStamp, unsigned char receiveBuffer, int bufferSize, int actual_length, bool isBinaryProtocol, int *numberOfRemainingFifoEntries)
	Read a datagram from the device.
void	handleRead (boost::system::error_code error, size_t bytes_transfered)
virtual int	init_device ()
void	readCallbackFunctionOld (UINT8 *buffer, UINT32 &numOfBytes)
int	readWithTimeout (size_t timeout_ms, char buffer, int buffer_size, int bytes_read=0, bool *exception_occured=0, bool isBinary=false)
virtual int	sendSOPASCommand (const char request, std::vector< unsigned char > reply, int cmdLen)
	Send a SOPAS command to the device and print out the response to the console.
Private Attributes
size_t	bytes_transfered_
boost::asio::deadline_timer	deadline_
boost::system::error_code	ec_
std::string	hostname_
boost::asio::streambuf	input_buffer_
boost::asio::io_service	io_service_
bool	m_beVerbose
bool	m_emulSensor
UINT32	m_numberOfBytesInReceiveBuffer
	Number of bytes in buffer.
UINT32	m_numberOfBytesInResponseBuffer
	Number of bytes in buffer.
UINT8	m_receiveBuffer [480000]
	Low-Level receive buffer for all data.
Mutex	m_receiveDataMutex
	Access mutex for buffer.
int	m_replyMode
UINT8	m_responseBuffer [1024]
	Receive buffer for everything except scan data and eval case data.
std::string	port_
boost::asio::ip::tcp::socket	socket_
int	timelimit_

Detailed Description

Definition at line 66 of file sick_scan_common_tcp.h.

Constructor & Destructor Documentation

sick_scan::SickScanCommonTcp::SickScanCommonTcp	(	const std::string &	hostname,
		const std::string &	port,
		int &	timelimit,
		SickGenericParser *	parser,
		char	cola_dialect_id
	)

Definition at line 170 of file sick_scan_common_tcp.cpp.

sick_scan::SickScanCommonTcp::~SickScanCommonTcp ( ) [virtual]

Definition at line 206 of file sick_scan_common_tcp.cpp.

Member Function Documentation

void sick_scan::SickScanCommonTcp::checkDeadline ( ) [protected]

Definition at line 583 of file sick_scan_common_tcp.cpp.

int sick_scan::SickScanCommonTcp::close_device ( ) [protected, virtual]

Implements sick_scan::SickScanCommon.

Definition at line 562 of file sick_scan_common_tcp.cpp.

void sick_scan::SickScanCommonTcp::disconnectFunction ( ) [protected]

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

Definition at line 217 of file sick_scan_common_tcp.cpp.

void sick_scan::SickScanCommonTcp::disconnectFunctionS ( void * obj ) [static]

Definition at line 222 of file sick_scan_common_tcp.cpp.

SopasEventMessage sick_scan::SickScanCommonTcp::findFrameInReceiveBuffer ( )

Definition at line 285 of file sick_scan_common_tcp.cpp.

int sick_scan::SickScanCommonTcp::get_datagram	(	ros::Time &	recvTimeStamp,
		unsigned char *	receiveBuffer,
		int	bufferSize,
		int *	actual_length,
		bool	isBinaryProtocol,
		int *	numberOfRemainingFifoEntries
	)		`[protected, virtual]`

Read a datagram from the device.

Parameters:

[out]	recvTimeStamp	timestamp of received datagram
[in]	receiveBuffer	data buffer to fill
[in]	bufferSize	max data size to write to buffer (result should be 0 terminated)
[out]	actual_length	the actual amount of data written
[in]	isBinaryProtocol	true=binary False=ASCII

Implements sick_scan::SickScanCommon.

Definition at line 758 of file sick_scan_common_tcp.cpp.

bool sick_scan::SickScanCommonTcp::getEmulSensor ( )

get emulation flag (using emulation instead of "real" scanner - currently implemented for radar

Parameters:

\return bool: Flag to switch emulation on or off

Definition at line 273 of file sick_scan_common_tcp.cpp.

int sick_scan::SickScanCommonTcp::getReplyMode ( )

Definition at line 240 of file sick_scan_common_tcp.cpp.

void sick_scan::SickScanCommonTcp::handleRead	(	boost::system::error_code	error,
		size_t	bytes_transfered
	)		`[protected]`

Definition at line 576 of file sick_scan_common_tcp.cpp.

int sick_scan::SickScanCommonTcp::init_device ( ) [protected, virtual]

Implements sick_scan::SickScanCommon.

Definition at line 546 of file sick_scan_common_tcp.cpp.

int sick_scan::SickScanCommonTcp::numberOfDatagramInInputFifo ( )

Definition at line 598 of file sick_scan_common_tcp.cpp.

void sick_scan::SickScanCommonTcp::processFrame	(	ros::Time	timeStamp,
		SopasEventMessage &	frame
	)

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

Definition at line 459 of file sick_scan_common_tcp.cpp.

void sick_scan::SickScanCommonTcp::readCallbackFunction	(	UINT8 *	buffer,
		UINT32 &	numOfBytes
	)

Definition at line 480 of file sick_scan_common_tcp.cpp.

void sick_scan::SickScanCommonTcp::readCallbackFunctionOld	(	UINT8 *	buffer,
		UINT32 &	numOfBytes
	)		`[protected]`

void sick_scan::SickScanCommonTcp::readCallbackFunctionS	(	void *	obj,
		UINT8 *	buffer,
		UINT32 &	numOfBytes
	)		`[static]`

Definition at line 230 of file sick_scan_common_tcp.cpp.

int sick_scan::SickScanCommonTcp::readWithTimeout	(	size_t	timeout_ms,
		char *	buffer,
		int	buffer_size,
		int *	bytes_read = `0`,
		bool *	exception_occured = `0`,
		bool	isBinary = `false`
	)		`[protected]`