#include <result_port_parser.h>

Public Member Functions
virtual bool	decode (const std::vector< uint8_t > &binary_data)

virtual std::vector< uint8_t >	encode (void)

virtual sick_scan::SickLocResultPortTelegramMsg &	getTelegramMsg (void)

virtual const sick_scan::SickLocResultPortTelegramMsg &	getTelegramMsg (void) const

	ResultPortParser (const std::string &frame_id="")

Protected Member Functions
virtual uint16_t	computeChecksum (const std::vector< uint8_t > &binary_data, bool binary_data_with_trailer=true)

template<typename T >
size_t	copyBytesToArray (const std::vector< uint8_t > &binary_data, size_t start_byte, std::vector< T > &dst_array, const std::string &info="")

template<typename T >
size_t	copyBytesToValue (const std::vector< uint8_t > &binary_data, size_t start_byte, T &value, const std::string &info="", bool little_endian=false)

virtual size_t	decodeResultPortHeader (const std::vector< uint8_t > &binary_data, size_t start_byte, sick_scan::SickLocResultPortHeaderMsg &telegram_header)

virtual size_t	decodeResultPortPayload (const std::vector< uint8_t > &binary_data, size_t start_byte, sick_scan::SickLocResultPortPayloadMsg &telegram_payload)

virtual size_t	decodeResultPortTrailer (const std::vector< uint8_t > &binary_data, size_t start_byte, sick_scan::SickLocResultPortCrcMsg &telegram_trailer)

template<typename T >
void	encodePushValue (T value, std::vector< uint8_t > &binary_data, bool little_endian=false)

virtual void	encodeResultPortHeader (const sick_scan::SickLocResultPortHeaderMsg &telegram_header, std::vector< uint8_t > &binary_data)

virtual void	encodeResultPortPayload (const sick_scan::SickLocResultPortPayloadMsg &telegram_payload, std::vector< uint8_t > &binary_data)

virtual void	encodeResultPortTrailer (uint16_t checksum, std::vector< uint8_t > &binary_data)

virtual bool	isLittleEndianPayload (uint16_t payload_type)

Static Protected Member Functions
static void	parseAssert (bool assertion, const std::string &assertion_msg, const std::string &info, const std::string &file, int line)

Protected Attributes
bool	m_little_endian_payload
	true if payload type is 0x06c2 (little endian), default: false (payload encoded in big endian format) More...

std::string	m_publish_frame_id
	frame_id of published ros messages (type SickLocResultPortTelegramMsg) More...

sick_scan::SickLocResultPortTelegramMsg	m_result_port_telegram
	the result port telegram decoded from binary data More...

Detailed Description

class ResultPortParser implements a parser for result port telegrams for SIM Localization.

Definition at line 67 of file result_port_parser.h.

Constructor & Destructor Documentation

sick_scan::ResultPortParser::ResultPortParser ( const std::string & frame_id = "" )

Constructor

Parameters

[in] frame_id frame_id of published ros messages (type SickLocResultPortTelegramMsg)

Definition at line 70 of file result_port_parser.cpp.

Member Function Documentation

uint16_t sick_scan::ResultPortParser::computeChecksum	(	const std::vector< uint8_t > &	binary_data,
		bool	binary_data_with_trailer = `true`
	)

protectedvirtual

Computes and returns the checksum of a result port telegram.

Checksum := CRC16-CCITT over length of header (52 bytes) and payload (52 bytes) without 2 bytes of this trailer. Size: UInt16 = 2 byte Checksum details (See chapter 5.9 "About result port telegrams" of the operation manual for further details): Width: 16 bits Truncated polynomial: 0x1021 CRC polynomials with orders of x16 + x12 + x5 + 1 (counted without the leading '1' bit) Initial value = 0xFFFF

Additional note: According to http://srecord.sourceforge.net/crc16-ccitt.html, CRC16-CCITT is specified by Width = 16 bits, Truncated polynomial = 0x1021, Initial value = 0xFFFF, Input data is NOT reflected, Output CRC is NOT reflected. This is often referred as "CRC-16/CCITT-FALSE" (because of "reflected_in/out=FALSE", width=16 poly=0x1021 init=0xffff refin=false refout=false), in contrast to other flavors like "CRC-16/MCRF4XX" (width=16 poly=0x1021 init=0xffff refin=true refout=true).

This CRC checksum uses the implementation by https://github.com/madler/crcany (sources under the zlib license, permitting free commercial use) with algorithm "CRC-16/CCITT-FALSE" (crc16ccitt_false.c and crc16ccitt_false.h). Other crc checksum algorithms may be used if required.

Parameters

[in]	binary_data	binary data of result port telegram
[in]	binary_data_with_trailer	true (default): binary_data (input) contains 2 byte trailer

Returns: CRC16 checksum

Definition at line 159 of file result_port_parser.cpp.

template<typename T >

size_t sick_scan::ResultPortParser::copyBytesToArray	(	const std::vector< uint8_t > &	binary_data,
		size_t	start_byte,
		std::vector< T > &	dst_array,
		const std::string &	info = `""`
	)

protected

Copies the next N=dst_array.size() bytes from binary_data to dst_array, starting at binary_data[start_byte].

Parameters

[in]	binary_data	binary data, at least start_byte+sizeof(value) byte binary data
[in]	start_byte	first byte to start copying from binary_data
[out]	dst_array	destination
[in]	info	descriptional message, used in exception in case of errors

Returns: number of bytes decoded := dst_array.size()

Exceptions

std::invalid_argument in case of parse errors

Definition at line 127 of file result_port_parser.cpp.

template<typename T >

size_t sick_scan::ResultPortParser::copyBytesToValue	(	const std::vector< uint8_t > &	binary_data,
		size_t	start_byte,
		T &	value,
		const std::string &	info = `""`,
		bool	little_endian = `false`
	)

protected

Copies the next N=sizeof(value) bytes from binary_data to a value (number type), starting at binary_data[start_byte].

Parameters

[in]	binary_data	binary data, at least start_byte+sizeof(value) byte binary data
[in]	start_byte	first byte to start copying from binary_data
[out]	value	destination
[in]	info	descriptional message, used in exception in case of errors
[in]	little_endian	true: binary_data encoded in little endian format, false (default): binary_data encoded in big endian format

Returns: number of bytes decoded := sizeof(value)

Exceptions

std::invalid_argument in case of parse errors

Definition at line 97 of file result_port_parser.cpp.

bool sick_scan::ResultPortParser::decode ( const std::vector< uint8_t > & binary_data )

virtual

Decodes a result port telegram from binary data.

Parameters

[in] binary_data binary data (106 byte binary result port telegram), f.e. { 0x53, 0x49, 0x43, 0x4B, 0x00, ... }

Returns: true if binary_data successfully decode, false otherwise.

Definition at line 314 of file result_port_parser.cpp.

size_t sick_scan::ResultPortParser::decodeResultPortHeader	(	const std::vector< uint8_t > &	binary_data,
		size_t	start_byte,
		sick_scan::SickLocResultPortHeaderMsg &	telegram_header
	)

protectedvirtual

Decodes the header of a result port telegram from binary data.

Parameters

[in]	binary_data	binary data, at least start_byte+52 byte binary result port telegram header
[in]	start_byte	first byte to start decoding in binary_data
[out]	telegram_header	decoded result port telegram header

Returns: number of bytes decoded

Exceptions

std::invalid_argument in case of parse errors

Definition at line 189 of file result_port_parser.cpp.

size_t sick_scan::ResultPortParser::decodeResultPortPayload	(	const std::vector< uint8_t > &	binary_data,
		size_t	start_byte,
		sick_scan::SickLocResultPortPayloadMsg &	telegram_payload
	)

protectedvirtual

Decodes the payload of a result port telegram from binary data.

Parameters

[in]	binary_data	binary data, at least start_byte+52 byte binary result port telegram payload
[in]	start_byte	first byte to start decoding in binary_data
[out]	telegram_payload	decoded result port telegram payload

Returns: number of bytes decoded

Exceptions

std::invalid_argument in case of parse errors

Definition at line 238 of file result_port_parser.cpp.

size_t sick_scan::ResultPortParser::decodeResultPortTrailer	(	const std::vector< uint8_t > &	binary_data,
		size_t	start_byte,
		sick_scan::SickLocResultPortCrcMsg &	telegram_trailer
	)

protectedvirtual

Decodes the trailer of a result port telegram from binary data.

Parameters

[in]	binary_data	binary data, at least start_byte+2 byte binary result port telegram trailer
[in]	start_byte	first byte to start decoding in binary_data
[out]	telegram_trailer	decoded result port telegram trailer

Returns: number of bytes decoded

Exceptions

std::invalid_argument in case of parse errors

Definition at line 298 of file result_port_parser.cpp.

std::vector< uint8_t > sick_scan::ResultPortParser::encode ( void )

virtual

Encodes the result port telegram and returns its binary data.

Returns: binary data (106 byte binary result port telegram), f.e. { 0x53, 0x49, 0x43, 0x4B, 0x00, ... }

Definition at line 429 of file result_port_parser.cpp.

template<typename T >

void sick_scan::ResultPortParser::encodePushValue	(	T	value,
		std::vector< uint8_t > &	binary_data,
		bool	little_endian = `false`
	)

protected

Encodes a value to binary data.

Parameters

[in]	value	source
[out]	binary_data	binary data (destination buffer)
[in]	little_endian	true: binary_data encoded in little endian format, false (default): binary_data encoded in big endian format

Definition at line 354 of file result_port_parser.cpp.

void sick_scan::ResultPortParser::encodeResultPortHeader	(	const sick_scan::SickLocResultPortHeaderMsg &	telegram_header,
		std::vector< uint8_t > &	binary_data
	)

protectedvirtual

Encodes the header of the result port telegram and append its binary data to binary_data (destination).

Parameters

[in]	telegram_header	header of result port telegram
[out]	binary_data	destination buffer

Definition at line 378 of file result_port_parser.cpp.

void sick_scan::ResultPortParser::encodeResultPortPayload	(	const sick_scan::SickLocResultPortPayloadMsg &	telegram_payload,
		std::vector< uint8_t > &	binary_data
	)

protectedvirtual

Encodes the payload of the result port telegram and append its binary data to binary_data (destination).

Parameters

[in]	telegram_payload	payload of result port telegram
[out]	binary_data	destination buffer

Definition at line 397 of file result_port_parser.cpp.

void sick_scan::ResultPortParser::encodeResultPortTrailer	(	uint16_t	checksum,
		std::vector< uint8_t > &	binary_data
	)

protectedvirtual

Encodes the checksum (trailer) of the result port telegram and append its binary data to binary_data (destination).

Parameters

[in]	checksum	checksum (trailer) of result port telegram
[out]	binary_data	destination buffer

Definition at line 420 of file result_port_parser.cpp.

virtual sick_scan::SickLocResultPortTelegramMsg& sick_scan::ResultPortParser::getTelegramMsg ( void )

inlinevirtual

Returns the result port telegram.

Definition at line 93 of file result_port_parser.h.

virtual const sick_scan::SickLocResultPortTelegramMsg& sick_scan::ResultPortParser::getTelegramMsg ( void ) const

inlinevirtual

Returns the result port telegram.

Definition at line 98 of file result_port_parser.h.

bool sick_scan::ResultPortParser::isLittleEndianPayload ( uint16_t payload_type )

protectedvirtual

Returns true, if the PayloadType of a telegram_header indicates a little endian payload, or false otherwise.

Parameters

[in] payload_type the PayloadType of a telegram_header

Returns: true for little endian payloads, false otherwise

Definition at line 176 of file result_port_parser.cpp.

void sick_scan::ResultPortParser::parseAssert	(	bool	assertion,
		const std::string &	assertion_msg,
		const std::string &	info,
		const std::string &	file,
		int	line
	)

staticprotected

Shortcut to print error messages and to throw an std::invalid_argument exception in case of assertion failures

Definition at line 77 of file result_port_parser.cpp.

Member Data Documentation

bool sick_scan::ResultPortParser::m_little_endian_payload

protected

true if payload type is 0x06c2 (little endian), default: false (payload encoded in big endian format)

Definition at line 226 of file result_port_parser.h.

std::string sick_scan::ResultPortParser::m_publish_frame_id

protected

frame_id of published ros messages (type SickLocResultPortTelegramMsg)

Definition at line 224 of file result_port_parser.h.

sick_scan::SickLocResultPortTelegramMsg sick_scan::ResultPortParser::m_result_port_telegram

protected

the result port telegram decoded from binary data

Definition at line 225 of file result_port_parser.h.

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation