sick_tim_common_tcp.h
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1 /*
2  * Copyright (C) 2013, Freiburg University
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of Osnabrück University nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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28  *
29  * Created on: 15.11.2013
30  *
31  * Authors:
32  * Christian Dornhege <c.dornhege@googlemail.com>
33  */
34 
35 #ifndef SICK_TIM3XX_COMMON_TCP_H
36 #define SICK_TIM3XX_COMMON_TCP_H
37 
38 #include <stdio.h>
39 #include <stdlib.h>
40 #include <string.h>
41 #include <boost/asio.hpp>
42 
43 #include "sick_tim_common.h"
44 
45 namespace sick_tim
46 {
47 
49 {
50 public:
51  SickTimCommonTcp(const std::string &hostname, const std::string &port, int &timelimit, AbstractParser* parser);
52  virtual ~SickTimCommonTcp();
53 
54 protected:
55  virtual int init_device();
56  virtual int close_device();
57 
59  virtual int sendSOPASCommand(const char* request, std::vector<unsigned char> * reply);
60 
62 
67  virtual int get_datagram(unsigned char* receiveBuffer, int bufferSize, int* actual_length);
68 
69  // Helpers for boost asio
70  int readWithTimeout(size_t timeout_ms, char *buffer, int buffer_size, int *bytes_read = 0, bool *exception_occured = 0);
71  void handleRead(boost::system::error_code error, size_t bytes_transfered);
72  void checkDeadline();
73 
74 private:
75  boost::asio::io_service io_service_;
76  boost::asio::ip::tcp::socket socket_;
77  boost::asio::deadline_timer deadline_;
78  boost::asio::streambuf input_buffer_;
79  boost::system::error_code ec_;
81 
82  std::string hostname_;
83  std::string port_;
85 };
86 
87 inline void SickTimCommonTcp::handleRead(boost::system::error_code error, size_t bytes_transfered)
88 {
89  ec_ = error;
90  bytes_transfered_ += bytes_transfered;
91 }
92 
93 } /* namespace sick_tim */
94 #endif /* SICK_TIM3XX_COMMON_TCP_H */
95 
int readWithTimeout(size_t timeout_ms, char *buffer, int buffer_size, int *bytes_read=0, bool *exception_occured=0)
boost::asio::streambuf input_buffer_
boost::system::error_code ec_
boost::asio::io_service io_service_
boost::asio::ip::tcp::socket socket_
virtual int get_datagram(unsigned char *receiveBuffer, int bufferSize, int *actual_length)
Read a datagram from the device.
def error(args, kwargs)
virtual int sendSOPASCommand(const char *request, std::vector< unsigned char > *reply)
Send a SOPAS command to the device and print out the response to the console.
SickTimCommonTcp(const std::string &hostname, const std::string &port, int &timelimit, AbstractParser *parser)
boost::asio::deadline_timer deadline_
parser
void handleRead(boost::system::error_code error, size_t bytes_transfered)


sick_tim
Author(s): Jochen Sprickerhof , Martin Günther , Sebastian Pütz
autogenerated on Tue May 7 2019 03:13:47