psen_scan_v2_standalone::ScannerV2 Class Reference

This is the implementation of the Scanner API defined by IScanner. More...

#include <scanner_v2.h>

Inheritance diagram for psen_scan_v2_standalone::ScannerV2:

Public Member Functions
	ScannerV2 (const ScannerConfiguration &scanner_config, const LaserScanCallback &laser_scan_callback)
std::future< void >	start () override
	An exception is set in the returned future if the scanner start was not successful. More...
std::future< void >	stop () override
	An exception is set in the returned future if the scanner stop was not successful. More...
	~ScannerV2 () override
Public Member Functions inherited from psen_scan_v2_standalone::IScanner
	IScanner (const ScannerConfiguration &scanner_config, const LaserScanCallback &laser_scan_callback)
virtual	~IScanner ()=default

Private Types
using	OptionalPromise = boost::optional< std::promise< void > >

Private Member Functions
void	scannerStartedCallback ()
void	scannerStartErrorCallback (const std::string &error_msg)
void	scannerStopErrorCallback (const std::string &error_msg)
void	scannerStoppedCallback ()
template<class T >
void	triggerEvent ()
template<class T >
void	triggerEventWithParam (const T &event)

Private Attributes
std::mutex	member_mutex_
	This Mutex protects ALL members of the Scanner against concurrent access. So far there exist at least the following threads, potentially causing concurrent access to the members: More...
OptionalPromise	scanner_has_started_ { boost::none }
OptionalPromise	scanner_has_stopped_ { boost::none }
std::unique_ptr< ScannerStateMachine >	sm_

Additional Inherited Members
Public Types inherited from psen_scan_v2_standalone::IScanner
using	LaserScanCallback = std::function< void(const LaserScan &)>
	Represents the user-provided callback for processing incoming scan data. More...
Protected Member Functions inherited from psen_scan_v2_standalone::IScanner
const ScannerConfiguration &	config () const
const ScannerConfiguration &	getConfig () const
const LaserScanCallback &	getLaserScanCallback () const
const LaserScanCallback &	laserScanCallback () const

Detailed Description

This is the implementation of the Scanner API defined by IScanner.

The class ScannerV2 is responsible for the initialization of:

• the state machine.
• the Udp connections.
• the guards to ensure threads save interaction between the user, udp connections and timeouts.

It uses the passed ScannerConfiguration for all configurable parts of this process.

The class creates two UdpClientImpl, a WatchdogFactory and passes them together with the LaserScanCallback to the scanner_protocol::ScannerStateMachine via scanner_protocol::StateMachineArgs.

See also

IScanner

communication_layer::UdpClientImpl

protocol_layer::ScannerStateMachine

ScannerConfiguration

Definition at line 60 of file scanner_v2.h.

Member Typedef Documentation

OptionalPromise

using psen_scan_v2_standalone::ScannerV2::OptionalPromise = boost::optional<std::promise<void> >

private

Definition at line 86 of file scanner_v2.h.

Constructor & Destructor Documentation

ScannerV2()

psen_scan_v2_standalone::ScannerV2::ScannerV2	(	const ScannerConfiguration &	scanner_config,
		const LaserScanCallback &	laser_scan_callback
	)

Definition at line 41 of file scanner_v2.cpp.

~ScannerV2()

psen_scan_v2_standalone::ScannerV2::~ScannerV2 ( )

override

Definition at line 64 of file scanner_v2.cpp.

Member Function Documentation

scannerStartedCallback()

void psen_scan_v2_standalone::ScannerV2::scannerStartedCallback ( )

private

Definition at line 111 of file scanner_v2.cpp.

scannerStartErrorCallback()

void psen_scan_v2_standalone::ScannerV2::scannerStartErrorCallback ( const std::string &  error_msg )

private

Definition at line 128 of file scanner_v2.cpp.

scannerStopErrorCallback()

void psen_scan_v2_standalone::ScannerV2::scannerStopErrorCallback ( const std::string &  error_msg )

private

Definition at line 135 of file scanner_v2.cpp.

scannerStoppedCallback()

void psen_scan_v2_standalone::ScannerV2::scannerStoppedCallback ( )

private

Definition at line 121 of file scanner_v2.cpp.

start()

std::future< void > psen_scan_v2_standalone::ScannerV2::start ( )

overridevirtual

An exception is set in the returned future if the scanner start was not successful.

Implements psen_scan_v2_standalone::IScanner.

Definition at line 72 of file scanner_v2.cpp.

stop()

std::future< void > psen_scan_v2_standalone::ScannerV2::stop ( )

overridevirtual

An exception is set in the returned future if the scanner stop was not successful.

Implements psen_scan_v2_standalone::IScanner.

Definition at line 90 of file scanner_v2.cpp.

triggerEvent()

template<class T >

void psen_scan_v2_standalone::ScannerV2::triggerEvent ( )

private

Definition at line 110 of file scanner_v2.h.

triggerEventWithParam()

template<class T >

void psen_scan_v2_standalone::ScannerV2::triggerEventWithParam ( const T &  event )

private

Definition at line 103 of file scanner_v2.h.

Member Data Documentation

member_mutex_

std::mutex psen_scan_v2_standalone::ScannerV2::member_mutex_

private

This Mutex protects ALL members of the Scanner against concurrent access. So far there exist at least the following threads, potentially causing concurrent access to the members:

• user-main-thread
• io_service thread of UDPClient
• watchdog threads

Definition at line 97 of file scanner_v2.h.

scanner_has_started_

OptionalPromise psen_scan_v2_standalone::ScannerV2::scanner_has_started_ { boost::none }

private

Definition at line 89 of file scanner_v2.h.

scanner_has_stopped_

OptionalPromise psen_scan_v2_standalone::ScannerV2::scanner_has_stopped_ { boost::none }

private

Definition at line 90 of file scanner_v2.h.

sm_

std::unique_ptr<ScannerStateMachine> psen_scan_v2_standalone::ScannerV2::sm_

private

Definition at line 99 of file scanner_v2.h.

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

• scanner_v2.h
• scanner_v2.cpp