A class to represent all messages sent to and from the Sick LMS 2xx. More...

#include <SickLMS2xxMessage.hh>

Inheritance diagram for SickToolbox::SickLMS2xxMessage:

Public Member Functions
void	BuildMessage (uint8_t dest_address, const uint8_t *const payload_buffer, const unsigned int payload_length)
	Consructs a message object from given parameter values. More...

void	Clear ()
	Reset all internal fields and buffers associated with the object. More...

uint16_t	GetChecksum () const

uint8_t	GetCommandCode () const

uint8_t	GetDestAddress () const

uint8_t	GetStatusByte () const

void	ParseMessage (const uint8_t *const message_buffer)
	Parses a sequence of bytes into a well-formed message. More...

void	Print () const
	Print the message contents. More...

	SickLMS2xxMessage ()
	A default constructor. More...

	SickLMS2xxMessage (const uint8_t dest_address, const uint8_t *const payload_buffer, const unsigned int payload_length)
	A constructor for building a message from the given parameter values. More...

	SickLMS2xxMessage (uint8_t *const message_buffer)
	A constructor for parsing a byte sequence into a message object. More...

	~SickLMS2xxMessage ()

Public Member Functions inherited from SickToolbox::SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >
void	BuildMessage (const uint8_t *const payload_buffer, const unsigned int payload_length)
	Constructs a Sick message given the parameter values. More...

void	GetMessage (uint8_t *const message_buffer) const
	Get the message as a sequence of well-formed bytes. More...

unsigned int	GetMessageLength () const

void	GetPayload (uint8_t *const payload_buffer) const
	Get the payload contents as a sequence of well-formed bytes. More...

void	GetPayloadAsCStr (char *const payload_str) const

unsigned int	GetPayloadLength () const

void	GetPayloadSubregion (uint8_t *const payload_sub_buffer, const unsigned int start_idx, const unsigned int stop_idx) const
	Get a specified sub-region of the payload buffer. More...

bool	IsPopulated () const

	SickMessage ()
	A default constructor. More...

virtual	~SickMessage ()
	A destructor. More...

Protected Attributes
uint16_t	_checksum

Protected Attributes inherited from SickToolbox::SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >
uint8_t	_message_buffer [MESSAGE_MAX_LENGTH]

unsigned int	_message_length

unsigned int	_payload_length

bool	_populated

Private Member Functions
uint16_t	_computeCRC (uint8_t *data, unsigned int data_length) const
	Computes the CRC16 of the given data buffer. More...

Additional Inherited Members
Static Public Attributes inherited from SickToolbox::SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >
static const unsigned int	MESSAGE_HEADER_LENGTH

static const unsigned int	MESSAGE_MAX_LENGTH

static const unsigned int	MESSAGE_PAYLOAD_MAX_LENGTH

static const unsigned int	MESSAGE_TRAILER_LENGTH

Detailed Description

A class to represent all messages sent to and from the Sick LMS 2xx.

This class helps to construct messages to be sent to the Sick. It also provides a container for received messages to be parsed into.

Definition at line 43 of file SickLMS2xxMessage.hh.

Constructor & Destructor Documentation

SickToolbox::SickLMS2xxMessage::SickLMS2xxMessage ( )

A default constructor.

Default constructor. Constructs an empty message (not well-formed!).

Definition at line 32 of file SickLMS2xxMessage.cc.

SickToolbox::SickLMS2xxMessage::SickLMS2xxMessage	(	const uint8_t	dest_address,
		const uint8_t *const	payload_buffer,
		const unsigned int	payload_length
	)

A constructor for building a message from the given parameter values.

Constructs a frame by using BuildMessage().

Parameters

dest_address	The source address of the message
payload_buffer	The payload of the message as an array of bytes (including the command code)
payload_length	The length of the payload array in bytes

Definition at line 44 of file SickLMS2xxMessage.cc.

SickToolbox::SickLMS2xxMessage::SickLMS2xxMessage ( uint8_t *const message_buffer )

A constructor for parsing a byte sequence into a message object.

Constructs a frame using ParseMessage().

Parameters

message_buffer A well-formed message to be parsed into the class' fields

Definition at line 55 of file SickLMS2xxMessage.cc.

SickToolbox::SickLMS2xxMessage::~SickLMS2xxMessage ( )

Destructor

Definition at line 179 of file SickLMS2xxMessage.cc.

Member Function Documentation

uint16_t SickToolbox::SickLMS2xxMessage::_computeCRC	(	uint8_t *	data,
		unsigned int	data_length
	)		const

private

Computes the CRC16 of the given data buffer.

Computes the checksum of the frame.

Parameters

data	An array of bytes whose checksum to compute
len	The length of the data array

Returns: CRC16 computed over given data buffer

Definition at line 159 of file SickLMS2xxMessage.cc.

void SickToolbox::SickLMS2xxMessage::BuildMessage	(	uint8_t	dest_address,
		const uint8_t *const	payload_buffer,
		const unsigned int	payload_length
	)

Consructs a message object from given parameter values.

Constructs a well-formed raw frame from input fields.

Parameters

dest_address	The destination address of the frame
*payload_buffer	The payload for the frame as an array of bytes (including the command code)
payload_length	The length of the payload array in bytes

Definition at line 68 of file SickLMS2xxMessage.cc.

void SickToolbox::SickLMS2xxMessage::Clear ( )

virtual

Reset all internal fields and buffers associated with the object.

Reset the data associated with this message (for initialization purposes)

Reimplemented from SickToolbox::SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >.

Definition at line 128 of file SickLMS2xxMessage.cc.

uint16_t SickToolbox::SickLMS2xxMessage::GetChecksum ( ) const

inline

Gets the checksum for the message.

Definition at line 74 of file SickLMS2xxMessage.hh.

uint8_t SickToolbox::SickLMS2xxMessage::GetCommandCode ( ) const

inline

Gets the command code associated with the message

Definition at line 68 of file SickLMS2xxMessage.hh.

uint8_t SickToolbox::SickLMS2xxMessage::GetDestAddress ( ) const

inline

Gets the address of the frame.

Definition at line 65 of file SickLMS2xxMessage.hh.

uint8_t SickToolbox::SickLMS2xxMessage::GetStatusByte ( ) const

inline

Gets the status byte from an LMS response message (NOTE: only applies to Sick LMS response telegrams!)

Definition at line 71 of file SickLMS2xxMessage.hh.

void SickToolbox::SickLMS2xxMessage::ParseMessage ( const uint8_t *const message_buffer )

virtual

Parses a sequence of bytes into a well-formed message.

Populates fields from a (well-formed) raw frame.

Parameters

*message_buffer The buffer containing the source message

Implements SickToolbox::SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >.

Definition at line 100 of file SickLMS2xxMessage.cc.

void SickToolbox::SickLMS2xxMessage::Print ( ) const

virtual

Print the message contents.

A debugging function that prints the contents of the message.

Reimplemented from SickToolbox::SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >.

Definition at line 141 of file SickLMS2xxMessage.cc.

Member Data Documentation

uint16_t SickToolbox::SickLMS2xxMessage::_checksum

protected

The checksum (CRC16)

Definition at line 88 of file SickLMS2xxMessage.hh.

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

Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation