Receives data of the laser range finder via IP socket Receives the scanner data with asynchronous functions of the Boost::Asio library. More...

#include <scan_data_receiver.h>

Public Member Functions
void	disconnect ()
	Disconnect and cleanup. More...

ScanData	getFullScan ()

std::size_t	getFullScansAvailable () const
	Get the total number of fully received laserscans available. More...

ScanData	getScan ()

std::size_t	getScansAvailable () const
	Get the total number of laserscans available (even scans which are not fully reveived yet) More...

int	getUDPPort () const
	Get open and receiving UDP port. More...

bool	isConnected () const
	Return connection status. More...

	ScanDataReceiver (const std::string hostname, const int tcp_port)
	Connect synchronously to the given IP and TCP port and start reading asynchronously. More...

	ScanDataReceiver ()
	Open an UDP port and listen on it. More...

	~ScanDataReceiver ()
	Disconnect cleanly. More...

Private Member Functions
bool	checkConnection ()

int	findPacketStart ()

bool	handleNextPacket ()

void	handleSocketRead (const boost::system::error_code &error)
	Asynchronous callback function, called if data has been reveived by the TCP socket. More...

void	handleSocketRead (const boost::system::error_code &error, std::size_t bytes_transferred)
	Asynchronous callback function, called if data has been reveived by the UDP socket. More...

void	readBufferFront (char *dst, std::size_t numbytes)

bool	retrievePacket (std::size_t start, PacketTypeC *p)

void	writeBufferBack (char *src, std::size_t numbytes)

Private Attributes
std::mutex	data_mutex_
	Protection against data races between ROS and IO threads. More...

std::condition_variable	data_notifier_
	Data notification condition variable. More...

boost::asio::streambuf	inbuf_
	Boost::Asio streambuffer. More...

std::istream	instream_
	Input stream. More...

boost::asio::io_service	io_service_

boost::thread	io_service_thread_
	Event handler thread. More...

bool	is_connected_
	Internal connection state. More...

double	last_data_time_
	time in seconds since epoch, when last data was received More...

boost::circular_buffer< char >	ring_buffer_
	Internal ringbuffer for temporarily storing reveived data. More...

std::deque< ScanData >	scan_data_
	Double ended queue with sucessfully received and parsed data, organized as single complete scans. More...

boost::asio::ip::tcp::socket *	tcp_socket_
	Receiving socket. More...

std::array< char, 65536 >	udp_buffer_
	Buffer in case of UDP receiver. More...

boost::asio::ip::udp::endpoint	udp_endpoint_
	Endpoint in case of UDP receiver. More...

int	udp_port_
	Data (UDP) port at local side. More...

boost::asio::ip::udp::socket *	udp_socket_
	Receiving socket. More...

Detailed Description

Receives data of the laser range finder via IP socket Receives the scanner data with asynchronous functions of the Boost::Asio library.

Definition at line 32 of file scan_data_receiver.h.

Constructor & Destructor Documentation

pepperl_fuchs::ScanDataReceiver::ScanDataReceiver	(	const std::string	hostname,
		const int	tcp_port
	)

Connect synchronously to the given IP and TCP port and start reading asynchronously.

Definition at line 17 of file scan_data_receiver.cpp.

pepperl_fuchs::ScanDataReceiver::ScanDataReceiver ( )

Open an UDP port and listen on it.

Definition at line 58 of file scan_data_receiver.cpp.

pepperl_fuchs::ScanDataReceiver::~ScanDataReceiver ( )

Disconnect cleanly.

Definition at line 87 of file scan_data_receiver.cpp.

Member Function Documentation

bool pepperl_fuchs::ScanDataReceiver::checkConnection ( )

private

Checks if the connection is alive

Returns: True if connection is alive, false otherwise

Definition at line 262 of file scan_data_receiver.cpp.

void pepperl_fuchs::ScanDataReceiver::disconnect ( )

Disconnect and cleanup.

Definition at line 242 of file scan_data_receiver.cpp.

int pepperl_fuchs::ScanDataReceiver::findPacketStart ( )

private

Search for magic header bytes in the internal ring buffer

Returns: Position of possible packet start, which normally should be zero

Definition at line 200 of file scan_data_receiver.cpp.

ScanData pepperl_fuchs::ScanDataReceiver::getFullScan ( )

Pop a single full scan out of the internal FIFO queue if there is any If no full scan is available yet, blocks until a full scan is available

Returns: A ScanData struct with distance and amplitude data as well as the packet headers belonging to the data

Definition at line 284 of file scan_data_receiver.cpp.

std::size_t pepperl_fuchs::ScanDataReceiver::getFullScansAvailable ( ) const

Get the total number of fully received laserscans available.

Definition at line 301 of file scan_data_receiver.cpp.

ScanData pepperl_fuchs::ScanDataReceiver::getScan ( )

Pop a single scan out of the internal FIFO queue CAUTION: Returns also unfinished scans for which a full rotation is not received yet Call getFullScansAvailable() first to see how many full scans are available

Returns: A ScanData struct with distance and amplitude data as well as the packet headers belonging to the data

Definition at line 275 of file scan_data_receiver.cpp.

std::size_t pepperl_fuchs::ScanDataReceiver::getScansAvailable ( ) const

inline

Get the total number of laserscans available (even scans which are not fully reveived yet)

Definition at line 65 of file scan_data_receiver.h.

int pepperl_fuchs::ScanDataReceiver::getUDPPort ( ) const

inline

Get open and receiving UDP port.

Definition at line 45 of file scan_data_receiver.h.

bool pepperl_fuchs::ScanDataReceiver::handleNextPacket ( )

private

Try to read and parse next packet from the internal ring buffer

Returns: True if a packet has been parsed, false otherwise

Definition at line 150 of file scan_data_receiver.cpp.

void pepperl_fuchs::ScanDataReceiver::handleSocketRead ( const boost::system::error_code & error )

private

Asynchronous callback function, called if data has been reveived by the TCP socket.

Definition at line 95 of file scan_data_receiver.cpp.

void pepperl_fuchs::ScanDataReceiver::handleSocketRead	(	const boost::system::error_code &	error,
		std::size_t	bytes_transferred
	)

private

Asynchronous callback function, called if data has been reveived by the UDP socket.

Definition at line 125 of file scan_data_receiver.cpp.

bool pepperl_fuchs::ScanDataReceiver::isConnected ( ) const

inline

Return connection status.

Definition at line 48 of file scan_data_receiver.h.

void pepperl_fuchs::ScanDataReceiver::readBufferFront	(	char *	dst,
		std::size_t	numbytes
	)

private

Read fast from the front of the internal ring buffer

Parameters

dst	Destination buffer Number of bytes to read

Definition at line 335 of file scan_data_receiver.cpp.

bool pepperl_fuchs::ScanDataReceiver::retrievePacket	(	std::size_t	start,
		PacketTypeC *	p
	)

private

Try to read a packet from the internal ring buffer

Returns: True on success, False otherwise

Definition at line 218 of file scan_data_receiver.cpp.

void pepperl_fuchs::ScanDataReceiver::writeBufferBack	(	char *	src,
		std::size_t	numbytes
	)

private

Write fast at the back of the internal ring buffer

Parameters

src	Source buffer Number of bytes to write

Definition at line 309 of file scan_data_receiver.cpp.

Member Data Documentation

std::mutex pepperl_fuchs::ScanDataReceiver::data_mutex_

private

Protection against data races between ROS and IO threads.

Definition at line 135 of file scan_data_receiver.h.

std::condition_variable pepperl_fuchs::ScanDataReceiver::data_notifier_

private

Data notification condition variable.

Definition at line 138 of file scan_data_receiver.h.

boost::asio::streambuf pepperl_fuchs::ScanDataReceiver::inbuf_

private

Boost::Asio streambuffer.

Definition at line 114 of file scan_data_receiver.h.

std::istream pepperl_fuchs::ScanDataReceiver::instream_

private

Input stream.

Definition at line 117 of file scan_data_receiver.h.

boost::asio::io_service pepperl_fuchs::ScanDataReceiver::io_service_

private

Definition at line 111 of file scan_data_receiver.h.

boost::thread pepperl_fuchs::ScanDataReceiver::io_service_thread_

private

Event handler thread.

Definition at line 110 of file scan_data_receiver.h.

bool pepperl_fuchs::ScanDataReceiver::is_connected_

private

Internal connection state.

Definition at line 107 of file scan_data_receiver.h.

double pepperl_fuchs::ScanDataReceiver::last_data_time_

private

time in seconds since epoch, when last data was received

Definition at line 144 of file scan_data_receiver.h.

boost::circular_buffer<char> pepperl_fuchs::ScanDataReceiver::ring_buffer_

private

Internal ringbuffer for temporarily storing reveived data.

Definition at line 132 of file scan_data_receiver.h.

std::deque<ScanData> pepperl_fuchs::ScanDataReceiver::scan_data_

private

Double ended queue with sucessfully received and parsed data, organized as single complete scans.

Definition at line 141 of file scan_data_receiver.h.

boost::asio::ip::tcp::socket* pepperl_fuchs::ScanDataReceiver::tcp_socket_

private

Receiving socket.

Definition at line 120 of file scan_data_receiver.h.

std::array< char, 65536 > pepperl_fuchs::ScanDataReceiver::udp_buffer_

private

Buffer in case of UDP receiver.

Definition at line 129 of file scan_data_receiver.h.

boost::asio::ip::udp::endpoint pepperl_fuchs::ScanDataReceiver::udp_endpoint_

private

Endpoint in case of UDP receiver.

Definition at line 126 of file scan_data_receiver.h.

int pepperl_fuchs::ScanDataReceiver::udp_port_

private

Data (UDP) port at local side.

Definition at line 104 of file scan_data_receiver.h.

boost::asio::ip::udp::socket* pepperl_fuchs::ScanDataReceiver::udp_socket_

private

Receiving socket.

Definition at line 123 of file scan_data_receiver.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation