SickLMS2xxMessage.hh
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00001 
00016 #ifndef SICK_LMS_2XX_MESSAGE_HH
00017 #define SICK_LMS_2XX_MESSAGE_HH
00018 
00019 /* Definition dependencies */
00020 #include <string.h>
00021 #include <netinet/in.h>   
00022 #include "SickMessage.hh"
00023 #include "SickException.hh"
00024 
00025 #define CRC16_GEN_POL 0x8005                        ///< Used to compute CRCs
00026 
00028 #define MKSHORT(a,b) ((unsigned short) (a) | ((unsigned short)(b) << 8))
00029 
00030 #define SICK_LMS_2XX_MSG_HEADER_LEN            (4)  ///< Sick LMS message length in bytes
00031 #define SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN     (812)  ///< Sick LMS max payload length in bytes
00032 #define SICK_LMS_2XX_MSG_TRAILER_LEN           (2)  ///< Sick LMS message trailer length in bytes 
00033 
00034 /* Associate the namespace */
00035 namespace SickToolbox {
00036 
00043   class SickLMS2xxMessage : public SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >
00044   {
00045 
00046   public:
00047   
00049     SickLMS2xxMessage( );
00050 
00052     SickLMS2xxMessage( const uint8_t dest_address, const uint8_t * const payload_buffer, const unsigned int payload_length );
00053 
00055     SickLMS2xxMessage( uint8_t * const message_buffer );
00056 
00058     void BuildMessage( uint8_t dest_address, const uint8_t * const payload_buffer,
00059                        const unsigned int payload_length );
00060     
00062     void ParseMessage( const uint8_t * const message_buffer );
00063 
00065     uint8_t GetDestAddress( ) const { return _message_buffer[1]; }
00066 
00068     uint8_t GetCommandCode( ) const { return _message_buffer[MESSAGE_HEADER_LENGTH]; }
00069 
00071     uint8_t GetStatusByte( ) const { return _message_buffer[MESSAGE_HEADER_LENGTH+_payload_length-1]; }
00072     
00074     uint16_t GetChecksum( ) const { return _checksum; }
00075     
00077     void Clear( );
00078     
00080     void Print( ) const;
00081 
00083     ~SickLMS2xxMessage();
00084 
00085   protected:
00086 
00088     uint16_t _checksum;
00089     
00090   private:
00091 
00093     uint16_t _computeCRC( uint8_t * data, unsigned int data_length ) const;
00094 
00095   };
00096 
00097 } /* namespace SickToolbox */
00098   
00099 #endif //SICK_LMS_2XX_MESSAGE_HH


sicktoolbox
Author(s): Jason Derenick , Thomas Miller
autogenerated on Sun May 5 2019 02:28:23