SickLMS1xxMessage.hh

Go to the documentation of this file.

#ifndef SICK_LMS_1XX_MESSAGE_HH
#define SICK_LMS_1XX_MESSAGE_HH

/* Macros */
#define SICK_LMS_1XX_MSG_HEADER_LEN             (1)  
#define SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN    (30000)  
#define SICK_LMS_1XX_MSG_TRAILER_LEN            (1)  

/* Definition dependencies */
#include <string.h>
#include <arpa/inet.h>
#include "SickMessage.hh"
#include "SickException.hh"

/* Associate the namespace */
namespace SickToolbox {

  class SickLMS1xxMessage : public SickMessage< SICK_LMS_1XX_MSG_HEADER_LEN, SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_1XX_MSG_TRAILER_LEN > {
  
  public:
    
    SickLMS1xxMessage( );
    
    SickLMS1xxMessage( const uint8_t * const payload_buffer, const unsigned int payload_length );
    
    SickLMS1xxMessage( const uint8_t * const message_buffer );
    
    void BuildMessage( const uint8_t * const payload_buffer, const unsigned int payload_length );
    
    void ParseMessage( const uint8_t * const message_buffer ) throw ( SickIOException );
    
    std::string GetCommandType( ) const { return _command_type; }
    
    std::string GetCommand( ) const { return _command; }

    void Clear( );
    
    void Print( ) const;
    
    ~SickLMS1xxMessage( );

  private:

    std::string _command_type;
    
    std::string _command;
    
  };
  
} /* namespace SickToolbox */

#endif /* SICK_LMS_1XX_MESSAGE_HH */