#include <test_server_thread.h>

Classes
class	ServerColaRequest

Public Member Functions
void	messageCbResultPortTelegrams (const sick_scan::SickLocResultPortTelegramMsg &msg)

virtual void	messageCbResultPortTelegramsROS2 (const std::shared_ptr< sick_scan::SickLocResultPortTelegramMsg > msg)

virtual bool	start (void)

virtual bool	stop (void)

	TestServerThread (ROS::NodePtr nh=0, int ip_port_results=2201, int ip_port_cola=2111)

virtual	~TestServerThread ()

Protected Types
enum	ERROR_SIMULATION_ENUM { NO_ERROR = 0, DONT_LISTEN, DONT_ACCECPT, DONT_SEND, SEND_RANDOM_TCP, SEND_INVALID_TELEGRAMS }
	< enumerates testcases for simulation of communication errors More...

typedef enum sick_scan::TestServerThread::ERROR_SIMULATION_ENUM	ERROR_SIMULATION_FLAG
	< enumerates testcases for simulation of communication errors More...

typedef boost::asio::ip::tcp::socket *	socket_ptr
	shortcut for pointer to boost::asio::ip::tcp::socket More...

typedef boost::thread *	thread_ptr
	shortcut for pointer to boost::thread More...

Protected Member Functions
void	closeScandataThread (void)

void	closeSocket (socket_ptr &p_socket)

virtual void	closeTcpConnections (bool force_shutdown=false)

void	closeWorkerThreads (void)

void	errorSimulationWait (double seconds)

bool	errorSimulationWaitForTelegramReceived (double timeout_seconds, sick_scan::SickLocResultPortTelegramMsg &telegram_msg)

virtual void	runConnectionThreadColaCb (void)

template<typename Callable >
void	runConnectionThreadGenericCb (boost::asio::ip::tcp::acceptor &tcp_acceptor_results, int ip_port_results, Callable thread_function_cb)

virtual void	runConnectionThreadResultCb (void)

virtual void	runErrorSimulationThreadCb (void)

virtual void	runWorkerThreadColaCb (boost::asio::ip::tcp::socket *p_socket)

virtual void	runWorkerThreadResultCb (boost::asio::ip::tcp::socket *p_socket)

virtual void	runWorkerThreadScandataCb (boost::asio::ip::tcp::socket *p_socket)

Protected Attributes
bool	m_demo_move_in_circles
	true: simulate a sensor moving in circles, false (default): create random based result port telegrams More...

bool	m_error_simulation_enabled
	default: false (no error simulation), if true, test server simulates errors and communication failures of type ERROR_SIMULATION_FLAG More...

sick_scan::SetGet< ERROR_SIMULATION_FLAG >	m_error_simulation_flag
	current error simulation flag, default: NO_ERROR More...

thread_ptr	m_error_simulation_thread
	thread to run error simulation, switches m_error_simulation_flag through the error test cases More...

bool	m_error_simulation_thread_running
	true: m_error_simulation_thread is running, otherwise false More...

boost::asio::io_service	m_ioservice
	boost io service for tcp connections More...

int	m_ip_port_cola
	ip port for for command requests and responses, default: The localization controller uses IP port number 2111 and 2112 to send telegrams and to request data More...

int	m_ip_port_results
	ip port for result telegrams, default: The localization controller uses IP port number 2201 to send localization results More...

sick_scan::SetGet< sick_scan::SickLocResultPortTelegramMsg >	m_last_telegram_received
	last telegram message received from sick_scan driver More...

double	m_result_telegram_rate
	frequency to generate and send result port telegrams, default: 10 Hz More...

std::string	m_result_testcases_frame_id
	ros frame id of testcase messages (type SickLocResultPortTestcaseMsg), default: "result_testcases" More...

sick_scan::SickLocResultPortTestcaseMsgPublisher	m_result_testcases_publisher
	ros publisher for testcases with result port telegrams (type SickLocResultPortTestcaseMsg) More...

std::string	m_scandatafiles
	comma separated list of jsonfiles to emulate scandata messages, f.e. "tim781s_scandata.pcapng.json,tim781s_sopas.pcapng.json" More...

std::string	m_scandatatypes
	comma separated list of scandata message types, f.e. "sSN LMDscandata,sSN LMDscandatamon" More...

std::string	m_scanner_type
	currently supported: "sick_lms_5xx", "sick_tim_7xx" More...

double	m_start_scandata_delay
	delay between scandata activation ("LMCstartmeas" request) and first scandata message, default: 1 second More...

boost::asio::ip::tcp::acceptor	m_tcp_acceptor_cola
	boost acceptor for tcp clients for command requests and responses More...

boost::asio::ip::tcp::acceptor	m_tcp_acceptor_results
	boost acceptor for tcp clients for result telegrams More...

thread_ptr	m_tcp_connection_thread_cola
	thread to accept tcp clients for command requests and responses More...

thread_ptr	m_tcp_connection_thread_results
	thread to accept tcp clients for result port telegrams More...

bool	m_tcp_connection_thread_running
	true: m_tcp_connection_thread is running, otherwise false More...

thread_ptr	m_tcp_send_scandata_thread
	thread to send scandata and scandatamon tcp messages More...

bool	m_tcp_send_scandata_thread_running
	true: m_tcp_send_scandata_thread is running, otherwise false More...

std::list< boost::asio::ip::tcp::socket * >	m_tcp_sockets
	list of tcp sockets (one socket for each tcp client) More...

std::list< thread_ptr >	m_tcp_worker_threads
	list of tcp worker thread (one thread for each tcp client, generating telegrams) More...

boost::mutex	m_tcp_worker_threads_mutex
	mutex to protect m_tcp_worker_threads More...

bool	m_worker_thread_running
	true: worker threads started, otherwise false More...

Detailed Description

class TestServerThread runs a thread to listen and accept tcp connections from clients and generates telegrams to test the ros driver for sim localization.

Definition at line 80 of file test_server_thread.h.

Member Typedef Documentation

typedef enum sick_scan::TestServerThread::ERROR_SIMULATION_ENUM sick_scan::TestServerThread::ERROR_SIMULATION_FLAG

protected

< enumerates testcases for simulation of communication errors

typedef boost::asio::ip::tcp::socket* sick_scan::TestServerThread::socket_ptr

protected

shortcut for pointer to boost::asio::ip::tcp::socket

Definition at line 132 of file test_server_thread.h.

typedef boost::thread* sick_scan::TestServerThread::thread_ptr

protected

shortcut for pointer to boost::thread

Definition at line 131 of file test_server_thread.h.

Member Enumeration Documentation

enum sick_scan::TestServerThread::ERROR_SIMULATION_ENUM

protected

< enumerates testcases for simulation of communication errors

Enumerator
NO_ERROR	Default: run test server without simulated errors, send valid telegrams.
DONT_LISTEN	Testserver does not open listening port.
DONT_ACCECPT	Testserver does not accecpt tcp clients.
DONT_SEND	Testserver does not send any data.
SEND_RANDOM_TCP	Testserver sends invalid random tcp packets.
SEND_INVALID_TELEGRAMS	Testserver sends invalid telegrams (invalid data, false checksums, etc.)

Definition at line 247 of file test_server_thread.h.

Constructor & Destructor Documentation

sick_scan::TestServerThread::TestServerThread	(	ROS::NodePtr	nh = `0`,
		int	ip_port_results = `2201`,
		int	ip_port_cola = `2111`
	)

Constructor. The server thread does not start automatically, call start() and stop() to start and stop the server.

Parameters

[in]	nh	ros node handle
[in]	ip_port_results	ip port for result telegrams, default: 2201
[in]	ip_port_cola	ip port for command requests and responses, default: 2111

Definition at line 74 of file test_server_thread.cpp.

sick_scan::TestServerThread::~TestServerThread ( )

virtual

Destructor. Stops the server thread and closes all tcp connections.

Definition at line 113 of file test_server_thread.cpp.

Member Function Documentation

void sick_scan::TestServerThread::closeScandataThread ( void )

protected

Closes the send scandata thread

Definition at line 197 of file test_server_thread.cpp.

void sick_scan::TestServerThread::closeSocket ( socket_ptr & p_socket )

protected

Closes a socket.

Parameters

[in,out] p_socket socket to be closed

Definition at line 238 of file test_server_thread.cpp.

void sick_scan::TestServerThread::closeTcpConnections ( bool force_shutdown = false )

protectedvirtual

Closes all tcp connections

Parameters

[in] force_shutdown if true, sockets are immediately forced to shutdown

Definition at line 212 of file test_server_thread.cpp.

void sick_scan::TestServerThread::closeWorkerThreads ( void )

protected

Stops all worker threads

Definition at line 269 of file test_server_thread.cpp.

void sick_scan::TestServerThread::errorSimulationWait ( double seconds )

protected

Waits for a given time in seconds, as long as ROS::ok() and m_error_simulation_thread_running == true.

Parameters

[in] seconds delay in seconds

Definition at line 618 of file test_server_thread.cpp.

bool sick_scan::TestServerThread::errorSimulationWaitForTelegramReceived	(	double	timeout_seconds,
		sick_scan::SickLocResultPortTelegramMsg &	telegram_msg
	)

protected

Waits for and returns the next telegram message from sick_scan driver.

Parameters

[in]	timeout_seconds	wait timeout in seconds
[out]	telegram_msg	last telegram message received

Returns: true, if a new telegram message received, false otherwise (timeout or shutdown)

Definition at line 633 of file test_server_thread.cpp.

void sick_scan::TestServerThread::messageCbResultPortTelegrams ( const sick_scan::SickLocResultPortTelegramMsg & msg )

Callback for result telegram messages (SickLocResultPortTelegramMsg) from sim_loc_driver. Buffers the last telegram to monitor sim_loc_driver messages in error simulation mode.

Parameters

[in] msg result telegram message (SickLocResultPortTelegramMsg)

Definition at line 287 of file test_server_thread.cpp.

virtual void sick_scan::TestServerThread::messageCbResultPortTelegramsROS2 ( const std::shared_ptr< sick_scan::SickLocResultPortTelegramMsg > msg )

inlinevirtual

ROS2 version of function messageCbResultPortTelegrams

Definition at line 116 of file test_server_thread.h.

void sick_scan::TestServerThread::runConnectionThreadColaCb ( void )

protectedvirtual

Thread callback, listens and accept tcp connections from clients for cola telegrams. Starts a new worker thread to receive command requests for each tcp client.

Definition at line 305 of file test_server_thread.cpp.

template<typename Callable >

void sick_scan::TestServerThread::runConnectionThreadGenericCb	(	boost::asio::ip::tcp::acceptor &	tcp_acceptor_results,
		int	ip_port_results,
		Callable	thread_function_cb
	)

protected

Generic thread callback, listens and accept tcp connections from clients. Starts a worker thread running thread_function_cb for each tcp client.

Thread callback, listens and accept tcp connections from clients. Starts a worker thread for each tcp client.

Definition at line 314 of file test_server_thread.cpp.

void sick_scan::TestServerThread::runConnectionThreadResultCb ( void )

protectedvirtual

Thread callback, listens and accept tcp connections from clients for result telegrams. Starts a new worker thread to generate result port telegrams for each tcp client.

Definition at line 296 of file test_server_thread.cpp.

void sick_scan::TestServerThread::runErrorSimulationThreadCb ( void )

protectedvirtual

Thread callback, runs an error simulation and switches m_error_simulation_flag through the error test cases.

Definition at line 651 of file test_server_thread.cpp.

void sick_scan::TestServerThread::runWorkerThreadColaCb ( boost::asio::ip::tcp::socket * p_socket )

protectedvirtual

Worker thread callback, receives command requests from a tcp client and sends a synthetical command response. There's one request worker thread for each tcp client.

Parameters

[in] p_socket socket to receive command requests from the tcp client

Definition at line 441 of file test_server_thread.cpp.

void sick_scan::TestServerThread::runWorkerThreadResultCb ( boost::asio::ip::tcp::socket * p_socket )

protectedvirtual

Worker thread callback, generates and sends result telegrams to a tcp client. There's one result worker thread for each tcp client.

Parameters

[in] p_socket socket to send result telegrams to the tcp client

Definition at line 366 of file test_server_thread.cpp.

void sick_scan::TestServerThread::runWorkerThreadScandataCb ( boost::asio::ip::tcp::socket * p_socket )

protectedvirtual

Worker thread callback, sends scandata and scandatamon messages to the tcp client. Reads scandata and scandatamon messages from jsonfile and sends the messages in a loop while m_tcp_send_scandata_thread_running is true.

Parameters

[in] p_socket socket to sends scandata and scandatamon messages the tcp client

Definition at line 535 of file test_server_thread.cpp.

bool sick_scan::TestServerThread::start ( void )

virtual

Starts the server thread, starts to listen and accept tcp connections from clients.

Returns: true on success, false on failure.

Definition at line 122 of file test_server_thread.cpp.

bool sick_scan::TestServerThread::stop ( void )

virtual

Stops the server thread and closes all tcp connections.

Returns: true on success, false on failure.

Definition at line 151 of file test_server_thread.cpp.

Member Data Documentation

bool sick_scan::TestServerThread::m_demo_move_in_circles

protected

true: simulate a sensor moving in circles, false (default): create random based result port telegrams

Definition at line 238 of file test_server_thread.h.

bool sick_scan::TestServerThread::m_error_simulation_enabled

protected

default: false (no error simulation), if true, test server simulates errors and communication failures of type ERROR_SIMULATION_FLAG

Definition at line 258 of file test_server_thread.h.

sick_scan::SetGet<ERROR_SIMULATION_FLAG> sick_scan::TestServerThread::m_error_simulation_flag

protected

current error simulation flag, default: NO_ERROR

Definition at line 257 of file test_server_thread.h.

thread_ptr sick_scan::TestServerThread::m_error_simulation_thread

protected

thread to run error simulation, switches m_error_simulation_flag through the error test cases

Definition at line 259 of file test_server_thread.h.

bool sick_scan::TestServerThread::m_error_simulation_thread_running

protected

true: m_error_simulation_thread is running, otherwise false

Definition at line 260 of file test_server_thread.h.

boost::asio::io_service sick_scan::TestServerThread::m_ioservice

protected

boost io service for tcp connections

Definition at line 229 of file test_server_thread.h.

int sick_scan::TestServerThread::m_ip_port_cola

protected

ip port for for command requests and responses, default: The localization controller uses IP port number 2111 and 2112 to send telegrams and to request data

Definition at line 221 of file test_server_thread.h.

int sick_scan::TestServerThread::m_ip_port_results

protected

ip port for result telegrams, default: The localization controller uses IP port number 2201 to send localization results

Definition at line 220 of file test_server_thread.h.

sick_scan::SetGet<sick_scan::SickLocResultPortTelegramMsg> sick_scan::TestServerThread::m_last_telegram_received

protected

last telegram message received from sick_scan driver

Definition at line 261 of file test_server_thread.h.

double sick_scan::TestServerThread::m_result_telegram_rate

protected

frequency to generate and send result port telegrams, default: 10 Hz

Definition at line 222 of file test_server_thread.h.

std::string sick_scan::TestServerThread::m_result_testcases_frame_id

protected

ros frame id of testcase messages (type SickLocResultPortTestcaseMsg), default: "result_testcases"

Definition at line 237 of file test_server_thread.h.

sick_scan::SickLocResultPortTestcaseMsgPublisher sick_scan::TestServerThread::m_result_testcases_publisher

protected

ros publisher for testcases with result port telegrams (type SickLocResultPortTestcaseMsg)

Definition at line 236 of file test_server_thread.h.

std::string sick_scan::TestServerThread::m_scandatafiles

protected

comma separated list of jsonfiles to emulate scandata messages, f.e. "tim781s_scandata.pcapng.json,tim781s_sopas.pcapng.json"

Definition at line 239 of file test_server_thread.h.

std::string sick_scan::TestServerThread::m_scandatatypes

protected

comma separated list of scandata message types, f.e. "sSN LMDscandata,sSN LMDscandatamon"

Definition at line 240 of file test_server_thread.h.

std::string sick_scan::TestServerThread::m_scanner_type

protected

currently supported: "sick_lms_5xx", "sick_tim_7xx"

Definition at line 241 of file test_server_thread.h.

double sick_scan::TestServerThread::m_start_scandata_delay

protected

delay between scandata activation ("LMCstartmeas" request) and first scandata message, default: 1 second

Definition at line 227 of file test_server_thread.h.

boost::asio::ip::tcp::acceptor sick_scan::TestServerThread::m_tcp_acceptor_cola

protected

boost acceptor for tcp clients for command requests and responses

Definition at line 231 of file test_server_thread.h.

boost::asio::ip::tcp::acceptor sick_scan::TestServerThread::m_tcp_acceptor_results

protected

boost acceptor for tcp clients for result telegrams

Definition at line 230 of file test_server_thread.h.

thread_ptr sick_scan::TestServerThread::m_tcp_connection_thread_cola

protected

thread to accept tcp clients for command requests and responses

Definition at line 224 of file test_server_thread.h.

thread_ptr sick_scan::TestServerThread::m_tcp_connection_thread_results

protected

thread to accept tcp clients for result port telegrams

Definition at line 223 of file test_server_thread.h.

bool sick_scan::TestServerThread::m_tcp_connection_thread_running

protected

true: m_tcp_connection_thread is running, otherwise false

Definition at line 228 of file test_server_thread.h.

thread_ptr sick_scan::TestServerThread::m_tcp_send_scandata_thread

protected

thread to send scandata and scandatamon tcp messages

Definition at line 225 of file test_server_thread.h.

bool sick_scan::TestServerThread::m_tcp_send_scandata_thread_running

protected

true: m_tcp_send_scandata_thread is running, otherwise false

Definition at line 226 of file test_server_thread.h.

std::list<boost::asio::ip::tcp::socket*> sick_scan::TestServerThread::m_tcp_sockets

protected

list of tcp sockets (one socket for each tcp client)

Definition at line 232 of file test_server_thread.h.

std::list<thread_ptr> sick_scan::TestServerThread::m_tcp_worker_threads

protected

list of tcp worker thread (one thread for each tcp client, generating telegrams)

Definition at line 233 of file test_server_thread.h.

boost::mutex sick_scan::TestServerThread::m_tcp_worker_threads_mutex

protected

mutex to protect m_tcp_worker_threads

Definition at line 234 of file test_server_thread.h.

bool sick_scan::TestServerThread::m_worker_thread_running

protected

true: worker threads started, otherwise false

Definition at line 235 of file test_server_thread.h.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation