Program Listing for File udp_receiver.h
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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
* @brief udp_receiver receives msgpack raw data by udp.
* It implements a udp client, connects to multiScan136 (or any other udp-) sender,
* receives and buffers msgpack raw data.
*
* Copyright (C) 2020 Ing.-Buero Dr. Michael Lehning, Hildesheim
* Copyright (C) 2020 SICK AG, Waldkirch
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of SICK AG nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
* * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Authors:
* Michael Lehning <michael.lehning@lehning.de>
*
* Copyright 2020 SICK AG
* Copyright 2020 Ing.-Buero Dr. Michael Lehning
*
*/
#ifndef __SICK_SCANSEGMENT_XD_UDP_RECEIVER_H
#define __SICK_SCANSEGMENT_XD_UDP_RECEIVER_H
#include "sick_scan/sick_ros_wrapper.h"
#include "sick_scansegment_xd/common.h"
#include "sick_scansegment_xd/fifo.h"
namespace sick_scansegment_xd
{
/*
* @brief forward declaration of an udp receiver socket implementation.
* Used internally in the UdpReceiver.
*/
class UdpReceiverSocketImpl;
/*
* @brief class UdpReceiver receives msgpack raw data by udp.
* It implements a udp client, connects to multiScan136 (or any other udp-) sender,
* receives and buffers msgpack raw data.
*/
class UdpReceiver
{
public:
/*
* @brief Default constructor.
*/
UdpReceiver();
/*
* @brief Default destructor.
*/
~UdpReceiver();
/*
* @brief Initializes an udp socket to a sender.
* @param[in] udp_sender ip address of the udp sender, f.e. "127.0.0.1" (localhost, loopback)
* @param[in] udp_port ip port, f.e. 2115 (default port for multiScan136 emulator)
* @param[in] udp_input_fifolength max. input fifo length (-1: unlimited, default: 20 for buffering 1 second at 20 Hz), elements will be removed from front if number of elements exceeds the fifo_length
* @param[in] verbose true: enable debug output, false: quiet mode (default)
* @param[in] export_udp_msg: true: export binary udp and msgpack data to file (*.udp and *.msg), default: false
* @param[in] scandataformat ScanDataFormat: 1 for msgpack or 2 for compact scandata, default: 1
* @param[in] PayloadFifo* fifo: Fifo to handle payload data
*/
bool Init(const std::string& udp_sender, int udp_port, int udp_input_fifolength = 20, bool verbose = false, bool export_udp_msg = false, int scandataformat = 1, PayloadFifo* fifo = 0);
/*
* @brief Starts receiving udp packages in a background thread and pops msgpack data packages to the fifo.
*/
bool Start(void);
/*
* @brief Stops the udp receiver thread
*/
void Stop(bool do_join = true);
/*
* @brief Stop to receive data and shutdown the udp socket
*/
void Close(void);
/*
* @brief Returns the Fifo storing the msgpack data received by this udp receiver.
*/
PayloadFifo* Fifo(void) { return m_fifo_impl; }
/*
* @brief Converts a payload to a hex string
* param[in] payload payload buffer
* param[in] bytes_received number of received bytes
*/
static std::string ToHexString(const std::vector<uint8_t>& payload, size_t bytes_received);
/*
* @brief Converts a payload to a printable string (alnum characters or '.' for non-printable bytes)
* param[in] payload payload buffer
* param[in] bytes_received number of received bytes
*/
static std::string ToPrintableString(const std::vector<uint8_t>& payload, size_t bytes_received);
private:
/*
* @brief Thread callback, runs the receiver for udp packages and pops msgpack data packages to the fifo.
*/
bool Run(void);
/*
* Configuration and parameter
*/
bool m_verbose; // true: enable debug output, false: quiet mode (default)
int m_udp_recv_buffer_size; // size of buffer to receive udp packages
std::vector<uint8_t> m_udp_msg_start_seq; // any udp message from multiScan136 starts with 15 byte ".....class.Scan"
double m_udp_timeout_recv_nonblocking; // in normal mode we receive udp datagrams non-blocking with timeout to enable sync with msgpack start
double m_udp_sender_timeout; // if no udp packages received within some seconds, we switch to blocking udp receive
bool m_export_udp_msg; // true : export binary udpand msgpack data to file(*.udpand* .msg), default: false
int m_scandataformat; // ScanDataFormat: 1 for msgpack or 2 for compact scandata, default: 1
/*
* Member data to run a udp receiver
*/
UdpReceiverSocketImpl* m_socket_impl; // implementation of the udp receiver socket
PayloadFifo* m_fifo_impl; // implementation of a thread safe fifo buffer to share the payload of udp packages
bool m_fifo_impl_created; // m_fifo_impl has been created and needs be deleted at exit
std::thread* m_receiver_thread; // background thread to receive udp packages
bool m_run_receiver_thread; // flag to start and stop the udp receiver thread
}; // class UdpReceiver
} // namespace sick_scansegment_xd
#endif // __SICK_SCANSEGMENT_XD_UDP_RECEIVER_H