A class to represent all messages sent to and from the Sick LD unit. More...

#include <SickLDMessage.hh>

Inheritance diagram for SickToolbox::SickLDMessage:

Public Member Functions
void	BuildMessage (const uint8_t *const payload_buffer, const unsigned int payload_length)
	Constructs a Sick LD message given parameter values.
uint8_t	GetChecksum () const
uint8_t	GetServiceCode () const
uint8_t	GetServiceSubcode () const
void	ParseMessage (const uint8_t *const message_buffer)
	Parses a sequence of bytes into a SickLDMessage object.
void	Print () const
	Print the message contents.
	SickLDMessage ()
	A default constructor.
	SickLDMessage (const uint8_t *const payload_buffer, const unsigned int payload_length)
	Another constructor.
	SickLDMessage (const uint8_t *const message_buffer)
	Another constructor.
	~SickLDMessage ()
Private Member Functions
uint8_t	_computeXOR (const uint8_t *const data, const uint32_t length)
	Compute the message checksum (single-byte XOR).

Detailed Description

A class to represent all messages sent to and from the Sick LD unit.

Definition at line 35 of file SickLDMessage.hh.

Constructor & Destructor Documentation

SickToolbox::SickLDMessage::SickLDMessage ( )

A default constructor.

A standard constructor

Definition at line 33 of file SickLDMessage.cc.

SickToolbox::SickLDMessage::SickLDMessage	(	const uint8_t *const	payload_buffer,
		const unsigned int	payload_length
	)

Another constructor.

Constructs a packet by using BuildMessage

Parameters:

*payload_buffer	The payload for the packet as an array of bytes (including the header)
payload_length	The length of the payload array in bytes

Definition at line 45 of file SickLDMessage.cc.

SickToolbox::SickLDMessage::SickLDMessage ( const uint8_t *const message_buffer )

Another constructor.

Constructs a packet using ParseMessage()

Parameters:

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

Definition at line 56 of file SickLDMessage.cc.

SickToolbox::SickLDMessage::~SickLDMessage ( )

Destructor

Definition at line 151 of file SickLDMessage.cc.

Member Function Documentation

uint8_t SickToolbox::SickLDMessage::_computeXOR	(	const uint8_t *const	data,
		const uint32_t	length
	)		`[private]`

Compute the message checksum (single-byte XOR).

Computes the checksum of the frame. NOTE: Uses XOR of single bytes over packet payload data.

Parameters:

data	The address of the first data element in a sequence of bytes to be included in the sum
length	The number of byte in the data sequence

Definition at line 139 of file SickLDMessage.cc.

void SickToolbox::SickLDMessage::BuildMessage	(	const uint8_t *const	payload_buffer,
		const unsigned int	payload_length
	)

Constructs a Sick LD message given parameter values.

Construct a well-formed raw packet

Parameters:

*payload_buffer	An address of the first byte to be copied into the message's payload
payload_length	The number of bytes to be copied into the message buffer

Reimplemented from SickToolbox::SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >.

Definition at line 68 of file SickLDMessage.cc.

uint8_t SickToolbox::SickLDMessage::GetChecksum ( ) const [inline]

Get the checksum for the packet

Definition at line 61 of file SickLDMessage.hh.

uint8_t SickToolbox::SickLDMessage::GetServiceCode ( ) const [inline]

Get the length of the service code associated with the message

Definition at line 55 of file SickLDMessage.hh.

uint8_t SickToolbox::SickLDMessage::GetServiceSubcode ( ) const [inline]

Get the service sub-code associated with the message

Definition at line 58 of file SickLDMessage.hh.

void SickToolbox::SickLDMessage::ParseMessage ( const uint8_t *const message_buffer ) [virtual]

Parses a sequence of bytes into a SickLDMessage object.

Populates fields from a (well-formed) raw packet

Parameters:

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

Implements SickToolbox::SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >.

Definition at line 99 of file SickLDMessage.cc.

void SickToolbox::SickLDMessage::Print ( ) const [virtual]

Print the message contents.

A debugging function that prints the contents of the frame.

Reimplemented from SickToolbox::SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >.

Definition at line 122 of file SickLDMessage.cc.

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

Public Member Functions

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation