sick_scan_common_tcp.h

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/*
 * Copyright (C) 2013, Freiburg University
 * 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 Osnabrück University 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.
 *
 *  Created on: 15.11.2013
 *
 *      Authors:
 *         Christian Dornhege <c.dornhege@googlemail.com>
 */

#ifndef SICK_TIM3XX_COMMON_TCP_H
#define SICK_TIM3XX_COMMON_TCP_H

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <boost/asio.hpp>

#undef NOMINMAX // to get rid off warning C4005: "NOMINMAX": Makro-Neudefinition

#include "sick_scan_common.h"
#include "sick_generic_parser.h"
#include "template_queue.h"

namespace sick_scan
{
/* class prepared for optimized time stamping */

  class DatagramWithTimeStamp
  {
  public:
    DatagramWithTimeStamp(ros::Time timeStamp_, std::vector<unsigned char> datagram_)
    {
      timeStamp = timeStamp_;
      datagram = datagram_;
    }

// private:
    ros::Time timeStamp;
    std::vector<unsigned char> datagram;
  };


  class SickScanCommonTcp : public SickScanCommon
  {
  public:
    static void disconnectFunctionS(void *obj);

    SickScanCommonTcp(const std::string &hostname, const std::string &port, int &timelimit, SickGenericParser *parser,
                      char cola_dialect_id);

    virtual ~SickScanCommonTcp();

    static void readCallbackFunctionS(void *obj, UINT8 *buffer, UINT32 &numOfBytes);

    void readCallbackFunction(UINT8 *buffer, UINT32 &numOfBytes);

    void setReplyMode(int _mode);

    int getReplyMode();

    void setEmulSensor(bool _emulFlag);

    bool getEmulSensor();

    bool stopScanData();

    int numberOfDatagramInInputFifo();

    SopasEventMessage findFrameInReceiveBuffer();

    void processFrame(ros::Time timeStamp, SopasEventMessage &frame);

    // Queue<std::vector<unsigned char> > recvQueue;
    Queue<DatagramWithTimeStamp> recvQueue;
    UINT32 m_alreadyReceivedBytes;
    UINT32 m_lastPacketSize;
    UINT8 m_packetBuffer[480000];
  protected:
    void disconnectFunction();

    void readCallbackFunctionOld(UINT8 *buffer, UINT32 &numOfBytes);

    virtual int init_device();

    virtual int close_device();

    virtual int sendSOPASCommand(const char *request, std::vector<unsigned char> *reply, int cmdLen);


    virtual int
    get_datagram(ros::Time &recvTimeStamp, unsigned char *receiveBuffer, int bufferSize, int *actual_length,
                 bool isBinaryProtocol, int *numberOfRemainingFifoEntries);

    // Helpers for boost asio
    int readWithTimeout(size_t timeout_ms, char *buffer, int buffer_size, int *bytes_read = 0,
                        bool *exception_occured = 0, bool isBinary = false);

    void handleRead(boost::system::error_code error, size_t bytes_transfered);

    void checkDeadline();

  private:


    // Response buffer
    UINT32 m_numberOfBytesInResponseBuffer; 
    UINT8 m_responseBuffer[1024]; 
    Mutex m_receiveDataMutex; 

    // Receive buffer
    UINT32 m_numberOfBytesInReceiveBuffer; 
    UINT8 m_receiveBuffer[480000]; 

    bool m_beVerbose;
    bool m_emulSensor;

    boost::asio::io_service io_service_;
    boost::asio::ip::tcp::socket socket_;
    boost::asio::deadline_timer deadline_;
    boost::asio::streambuf input_buffer_;
    boost::system::error_code ec_;
    size_t bytes_transfered_;

    std::string hostname_;
    std::string port_;
    int timelimit_;
    int m_replyMode;
  };


} /* namespace sick_scan */
#endif /* SICK_TIM3XX_COMMON_TCP_H */