SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS > Class Template Reference

#include <SickBufferMonitor.hh>

Public Member Functions
void	AcquireDataStream () throw ( SickThreadException )
	Acquires a lock on the data stream. More...
void	GetNextMessageFromDataStream (SICK_MSG_CLASS &sick_message)
bool	GetNextMessageFromMonitor (SICK_MSG_CLASS &sick_message) throw ( SickThreadException )
	Checks the message container for the next available Sick message. More...
void	ReleaseDataStream () throw ( SickThreadException )
	Releases a lock on the data stream. More...
void	SetDataStream (const unsigned int sick_fd) throw ( SickThreadException )
	A method for setting/changing the current data stream. More...
	SickBufferMonitor (SICK_MONITOR_CLASS *const monitor_instance) throw ( SickThreadException )
	Primary constructor. More...
void	StartMonitor (const unsigned int sick_fd) throw ( SickThreadException )
	Creates and starts the buffer monitor thread. More...
void	StopMonitor () throw ( SickThreadException )
	Cancels the buffer monitor thread. More...
	~SickBufferMonitor () throw ( SickThreadException )
	The destructor (kills the mutex) More...

Protected Member Functions
void	_readBytes (uint8_t *const dest_buffer, const int num_bytes_to_read, const unsigned int timeout_value=0) const throw ( SickTimeoutException, SickIOException )
	Attempt to read a certain number of bytes from the stream. More...

Protected Attributes
unsigned int	_sick_fd

Private Member Functions
void	_acquireMessageContainer () throw ( SickThreadException )
	Locks access to the message container. More...
void	_releaseMessageContainer () throw ( SickThreadException )
	Unlocks access to the message container. More...

Static Private Member Functions
static void *	_bufferMonitorThread (void *thread_args)
	The monitor thread. More...

Private Attributes
pthread_mutex_t	_container_mutex
bool	_continue_grabbing
pthread_t	_monitor_thread_id
SICK_MSG_CLASS	_recv_msg_container
SICK_MONITOR_CLASS *	_sick_monitor_instance
pthread_mutex_t	_stream_mutex

Detailed Description

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>
class SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >

Definition at line 31 of file SickBufferMonitor.hh.

Constructor & Destructor Documentation

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS >

SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::SickBufferMonitor	(	SICK_MONITOR_CLASS *const	monitor_instance	)
throw	(	SickThreadException
	)

Primary constructor.

A standard constructor

Parameters

device_instance

A pointer to the current driver instance

Definition at line 106 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::~SickBufferMonitor	(		)
throw	(	SickThreadException
	)

The destructor (kills the mutex)

A standard destructor

Definition at line 288 of file SickBufferMonitor.hh.

Member Function Documentation

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_acquireMessageContainer ( ) throw ( SickThreadException )

private

Locks access to the message container.

Locks access to the message container

Definition at line 306 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void * SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_bufferMonitorThread ( void *  thread_args )

staticprivate

The monitor thread.

Entry point for the monitor thread

Parameters

*args

The thread arguments

Definition at line 409 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_readBytes ( uint8_t *const  dest_buffer, const int  num_bytes_to_read, const unsigned int  timeout_value = 0  ) const throw ( SickTimeoutException, SickIOException )

protected

Attempt to read a certain number of bytes from the stream.

Reads n bytes into the destination buffer

Parameters

*dest_buffer	A pointer to the destination buffer
num_bytes_to_read	The number of bytes to read into the buffer
timeout_value	The number of microseconds allowed between subsequent bytes in a message

Returns

True if the number of requested bytes were successfully read

Definition at line 336 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_releaseMessageContainer ( ) throw ( SickThreadException )

private

Unlocks access to the message container.

Unlocks access to the message container

Definition at line 319 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::AcquireDataStream	(		)
throw	(	SickThreadException
	)

Acquires a lock on the data stream.

Locks access to the data stream

Definition at line 262 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::GetNextMessageFromDataStream

(

SICK_MSG_CLASS &

sick_message

)

Acquire the next message from raw byte stream

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS>

bool SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::GetNextMessageFromMonitor	(	SICK_MSG_CLASS &	sick_message	)
throw	(	SickThreadException
	)

Checks the message container for the next available Sick message.

Acquire the most recent message buffered by the monitor

Parameters

&sick_message

The message object that is to be populated with the results

Returns

True if the current contents were acquired, false otherwise

Definition at line 180 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::ReleaseDataStream	(		)
throw	(	SickThreadException
	)

Releases a lock on the data stream.

Unlock access to the data stream

Definition at line 275 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::SetDataStream	(	const unsigned int	sick_fd	)
throw	(	SickThreadException
	)

A method for setting/changing the current data stream.

A method for setting the target data stream

Parameters

sick_fd

The data stream file descriptor

Definition at line 126 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::StartMonitor	(	const unsigned int	sick_fd	)
throw	(	SickThreadException
	)

Creates and starts the buffer monitor thread.

Start the buffer monitor for the device

Returns

True upon success, False otherwise

Definition at line 159 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::StopMonitor	(		)
throw	(	SickThreadException
	)

Cancels the buffer monitor thread.

Stop the buffer monitor for the device

Returns

True if the thread was properly canceled, false otherwise

Definition at line 226 of file SickBufferMonitor.hh.

Member Data Documentation

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

pthread_mutex_t SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_container_mutex

private

A mutex for guarding the message container

Definition at line 82 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

bool SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_continue_grabbing

private

A flag to indicate the monitor should continue running

Definition at line 76 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

pthread_t SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_monitor_thread_id

private

Buffer monitor thread ID

Definition at line 79 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

SICK_MSG_CLASS SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_recv_msg_container

private

A container to hold the most recent message

Definition at line 88 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

unsigned int SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sick_fd

protected

Sick data stream file descriptor

Definition at line 65 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

SICK_MONITOR_CLASS* SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sick_monitor_instance

private

The current monitor instance

Definition at line 73 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

pthread_mutex_t SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_stream_mutex

private

A mutex for locking the data stream

Definition at line 85 of file SickBufferMonitor.hh.

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

• SickBufferMonitor.hh