#include <SickBufferMonitor.hh>

Public Member Functions
void	AcquireDataStream () throw ( SickThreadException )
	Acquires a lock on the data stream. More...

void	GetNextMessageFromDataStream (SICK_MSG_CLASS &sick_message)

bool	GetNextMessageFromMonitor (SICK_MSG_CLASS &sick_message) throw ( SickThreadException )
	Checks the message container for the next available Sick message. More...

void	ReleaseDataStream () throw ( SickThreadException )
	Releases a lock on the data stream. More...

void	SetDataStream (const unsigned int sick_fd) throw ( SickThreadException )
	A method for setting/changing the current data stream. More...

	SickBufferMonitor (SICK_MONITOR_CLASS *const monitor_instance) throw ( SickThreadException )
	Primary constructor. More...

void	StartMonitor (const unsigned int sick_fd) throw ( SickThreadException )
	Creates and starts the buffer monitor thread. More...

void	StopMonitor () throw ( SickThreadException )
	Cancels the buffer monitor thread. More...

	~SickBufferMonitor () throw ( SickThreadException )
	The destructor (kills the mutex) More...

Protected Member Functions
void	_readBytes (uint8_t *const dest_buffer, const int num_bytes_to_read, const unsigned int timeout_value=0) const throw ( SickTimeoutException, SickIOException )
	Attempt to read a certain number of bytes from the stream. More...

Protected Attributes
unsigned int	_sick_fd

Private Member Functions
void	_acquireMessageContainer () throw ( SickThreadException )
	Locks access to the message container. More...

void	_releaseMessageContainer () throw ( SickThreadException )
	Unlocks access to the message container. More...

Static Private Member Functions
static void *	_bufferMonitorThread (void *thread_args)
	The monitor thread. More...

Private Attributes
pthread_mutex_t	_container_mutex

bool	_continue_grabbing

pthread_t	_monitor_thread_id

SICK_MSG_CLASS	_recv_msg_container

SICK_MONITOR_CLASS *	_sick_monitor_instance

pthread_mutex_t	_stream_mutex

Detailed Description

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>
class SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >

Definition at line 32 of file SickBufferMonitor.hh.

Constructor & Destructor Documentation

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS >

SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::SickBufferMonitor	(	SICK_MONITOR_CLASS *const	monitor_instance	)
throw	(	SickThreadException
	)

Primary constructor.

A standard constructor

Parameters

device_instance A pointer to the current driver instance

Definition at line 107 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::~SickBufferMonitor	(		)
throw	(	SickThreadException
	)

The destructor (kills the mutex)

A standard destructor

Definition at line 289 of file SickBufferMonitor.hh.

Member Function Documentation

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_acquireMessageContainer	(		)
throw	(	SickThreadException
	)

private

Locks access to the message container.

Locks access to the message container

Definition at line 307 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void * SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_bufferMonitorThread ( void * thread_args )

staticprivate

The monitor thread.

Entry point for the monitor thread

Parameters

*args The thread arguments

Definition at line 410 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_readBytes	(	uint8_t *const	dest_buffer,
		const int	num_bytes_to_read,
		const unsigned int	timeout_value = `0`
	)		const
throw	(	SickTimeoutException,
		SickIOException
	)

protected

Attempt to read a certain number of bytes from the stream.

Reads n bytes into the destination buffer

Parameters

*dest_buffer	A pointer to the destination buffer
num_bytes_to_read	The number of bytes to read into the buffer
timeout_value	The number of microseconds allowed between subsequent bytes in a message

Returns: True if the number of requested bytes were successfully read

Definition at line 337 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_releaseMessageContainer	(		)
throw	(	SickThreadException
	)

private

Unlocks access to the message container.

Unlocks access to the message container

Definition at line 320 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::AcquireDataStream	(		)
throw	(	SickThreadException
	)

Acquires a lock on the data stream.

Locks access to the data stream

Definition at line 263 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::GetNextMessageFromDataStream ( SICK_MSG_CLASS & sick_message )

Acquire the next message from raw byte stream

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS>

bool SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::GetNextMessageFromMonitor	(	SICK_MSG_CLASS &	sick_message	)
throw	(	SickThreadException
	)

Checks the message container for the next available Sick message.

Acquire the most recent message buffered by the monitor

Parameters

&sick_message The message object that is to be populated with the results

Returns: True if the current contents were acquired, false otherwise

Definition at line 181 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::ReleaseDataStream	(		)
throw	(	SickThreadException
	)

Releases a lock on the data stream.

Unlock access to the data stream

Definition at line 276 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::SetDataStream	(	const unsigned int	sick_fd	)
throw	(	SickThreadException
	)

A method for setting/changing the current data stream.

A method for setting the target data stream

Parameters

sick_fd The data stream file descriptor

Definition at line 127 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::StartMonitor	(	const unsigned int	sick_fd	)
throw	(	SickThreadException
	)

Creates and starts the buffer monitor thread.

Start the buffer monitor for the device

Returns: True upon success, False otherwise

Definition at line 160 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS , class SICK_MSG_CLASS >

void SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::StopMonitor	(		)
throw	(	SickThreadException
	)

Cancels the buffer monitor thread.

Stop the buffer monitor for the device

Returns: True if the thread was properly canceled, false otherwise

Definition at line 227 of file SickBufferMonitor.hh.

Member Data Documentation

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

pthread_mutex_t SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_container_mutex

private

A mutex for guarding the message container

Definition at line 83 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

bool SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_continue_grabbing

private

A flag to indicate the monitor should continue running

Definition at line 77 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

pthread_t SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_monitor_thread_id

private

Buffer monitor thread ID

Definition at line 80 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

SICK_MSG_CLASS SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_recv_msg_container

private

A container to hold the most recent message

Definition at line 89 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

unsigned int SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sick_fd

protected

Sick data stream file descriptor

Definition at line 66 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

SICK_MONITOR_CLASS* SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sick_monitor_instance

private

The current monitor instance

Definition at line 74 of file SickBufferMonitor.hh.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

pthread_mutex_t SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_stream_mutex

private

A mutex for locking the data stream

Definition at line 86 of file SickBufferMonitor.hh.

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

SickBufferMonitor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS> class SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>
class SickToolbox::SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >