Definition of the scanner protocol. It is initialized using the StateMachineArgs class. More...

#include <scanner_state_machine.h>

Inheritance diagram for psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef:

Classes
class	InternalScannerReplyError
	Exception thrown when something goes wrong with the scanner reply. More...

struct	transition_table
	Table describing the state machine which is specified in the scanner protocol. More...

Public Types
typedef Idle	initial_state

typedef ScannerProtocolDef	m

Public Member Functions
template<class FSM , class Event >
void	exception_caught (Event const &event, FSM &fsm, std::exception &exception)

void	handleMonitoringFrame (const scanner_events::RawMonitoringFrameReceived &event)

void	handleMonitoringFrameTimeout (const scanner_events::MonitoringFrameTimeout &event)

void	handleStartRequestTimeout (const scanner_events::StartTimeout &event)

bool	isAcceptedStartReply (scanner_events::RawReplyReceived const &reply_event)

bool	isAcceptedStopReply (scanner_events::RawReplyReceived const &reply_event)

bool	isRefusedStartReply (scanner_events::RawReplyReceived const &reply_event)

bool	isRefusedStopReply (scanner_events::RawReplyReceived const &reply_event)

bool	isUnknownStartReply (scanner_events::RawReplyReceived const &reply_event)

bool	isUnknownStopReply (scanner_events::RawReplyReceived const &reply_event)

template<class FSM , class Event >
void	no_transition (Event const &event, FSM &, int state)

template<class FSM >
void	no_transition (const scanner_events::RawMonitoringFrameReceived &, FSM &, int state)

void	notifyUserAboutRefusedStartReply (scanner_events::RawReplyReceived const &reply_event)

void	notifyUserAboutRefusedStopReply (scanner_events::RawReplyReceived const &reply_event)

void	notifyUserAboutStart (scanner_events::RawReplyReceived const &reply_event)

void	notifyUserAboutStop (scanner_events::RawReplyReceived const &reply_event)

void	notifyUserAboutUnknownStartReply (scanner_events::RawReplyReceived const &reply_event)

void	notifyUserAboutUnknownStopReply (scanner_events::RawReplyReceived const &reply_event)

	ScannerProtocolDef (const ScannerConfiguration &config, const communication_layer::NewMessageCallback &control_msg_callback, const communication_layer::ErrorCallback &control_error_callback, const communication_layer::ErrorCallback &start_error_callback, const communication_layer::ErrorCallback &stop_error_callback, const communication_layer::NewMessageCallback &data_msg_callback, const communication_layer::ErrorCallback &data_error_callback, const ScannerStartedCallback &scanner_started_callback, const ScannerStoppedCallback &scanner_stopped_callback, const InformUserAboutLaserScanCallback &laser_scan_callback, const TimeoutCallback &start_timeout_callback, const TimeoutCallback &monitoring_frame_timeout_callback)

template<class T >
void	sendStartRequest (const T &event)

template<class T >
void	sendStopRequest (const T &event)

	STATE (Idle)

	STATE (WaitForStartReply)

	STATE (WaitForMonitoringFrame)

	STATE (WaitForStopReply)

	STATE (Stopped)

	STATE (Error)

Private Member Functions
void	checkForChangedActiveZoneset (const data_conversion_layer::monitoring_frame::Message &msg)

void	checkForDiagnosticErrors (const data_conversion_layer::monitoring_frame::Message &msg)

void	checkForInternalErrors (const data_conversion_layer::scanner_reply::Message &msg)

bool	framesContainMeasurements (const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &stamped_msg)

void	informUserAboutTheScanData (const data_conversion_layer::monitoring_frame::MessageStamped &stamped_msg)

bool	isAcceptedReply (data_conversion_layer::scanner_reply::Message const &msg)

bool	isRefusedReply (data_conversion_layer::scanner_reply::Message const &msg)

bool	isStartReply (data_conversion_layer::scanner_reply::Message const &msg)

bool	isStopReply (data_conversion_layer::scanner_reply::Message const &msg)

bool	isUnknownReply (data_conversion_layer::scanner_reply::Message const &msg)

void	sendMessageWithMeasurements (const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &stamped_msg)

Private Attributes
ScannerConfiguration	config_

communication_layer::UdpClientImpl	control_client_

communication_layer::UdpClientImpl	data_client_

const InformUserAboutLaserScanCallback	inform_user_about_laser_scan_callback_

const std::function< void()>	monitoring_frame_timeout_callback_

std::unique_ptr< util::Watchdog >	monitoring_frame_watchdog_ {}

ScanBuffer	scan_buffer_ { DEFAULT_NUM_MSG_PER_ROUND }

const ScannerStartedCallback	scanner_started_callback_

const ScannerStoppedCallback	scanner_stopped_callback_

const StartErrorCallback	start_error_callback_

std::unique_ptr< util::Watchdog >	start_reply_watchdog_ {}

const std::function< void()>	start_timeout_callback_

const StopErrorCallback	stop_error_callback_

WatchdogFactory	watchdog_factory_ {}

boost::optional< data_conversion_layer::monitoring_frame::Message >	zoneset_reference_msg_

Detailed Description

Definition of the scanner protocol. It is initialized using the StateMachineArgs class.

This class interacts with UdpClientImpl in order to perform its actions. These include sending a start request, a stop request and handling incoming messages such as a start reply, a stop reply and a monitoring frame.

Precisely, the StateMachineArgs::control_client_ is used for the starting-/stopping procedure and the StateMachineArgs::data_client_ for receiving monitoring frames.

It also checks for internal errors of incoming messages and handles timeouts of the above mentioned actions by creating watchdogs via IWatchdogFactory.

See also: data_conversion_layer::start_request::Message; data_conversion_layer::stop_request; data_conversion_layer::scanner_reply::Message; data_conversion_layer::monitoring_frame::Message

Definition at line 145 of file scanner_state_machine.h.

Member Typedef Documentation

◆ initial_state

typedef Idle psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::initial_state

Definition at line 204 of file scanner_state_machine.h.

◆ m

typedef ScannerProtocolDef psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::m

Definition at line 205 of file scanner_state_machine.h.

Constructor & Destructor Documentation

◆ ScannerProtocolDef()

psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::ScannerProtocolDef	(	const ScannerConfiguration &	config,
		const communication_layer::NewMessageCallback &	control_msg_callback,
		const communication_layer::ErrorCallback &	control_error_callback,
		const communication_layer::ErrorCallback &	start_error_callback,
		const communication_layer::ErrorCallback &	stop_error_callback,
		const communication_layer::NewMessageCallback &	data_msg_callback,
		const communication_layer::ErrorCallback &	data_error_callback,
		const ScannerStartedCallback &	scanner_started_callback,
		const ScannerStoppedCallback &	scanner_stopped_callback,
		const InformUserAboutLaserScanCallback &	laser_scan_callback,
		const TimeoutCallback &	start_timeout_callback,
		const TimeoutCallback &	monitoring_frame_timeout_callback
	)

inline

Definition at line 23 of file scanner_state_machine_def.h.

Member Function Documentation

◆ checkForChangedActiveZoneset()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::checkForChangedActiveZoneset ( const data_conversion_layer::monitoring_frame::Message & msg )

inlineprivate

Exceptions

data_conversion_layer::monitoring_frame::AdditionalFieldMissing if scan_counter or active_zoneset is not set.

Definition at line 238 of file scanner_state_machine_def.h.

◆ checkForDiagnosticErrors()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::checkForDiagnosticErrors ( const data_conversion_layer::monitoring_frame::Message & msg )

inlineprivate

Definition at line 228 of file scanner_state_machine_def.h.

◆ checkForInternalErrors()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::checkForInternalErrors ( const data_conversion_layer::scanner_reply::Message & msg )

inlineprivate

Definition at line 318 of file scanner_state_machine_def.h.

◆ exception_caught()

template<class FSM , class Event >

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::exception_caught	(	Event const &	event,
		FSM &	fsm,
		std::exception &	exception
	)

Definition at line 430 of file scanner_state_machine_def.h.

◆ framesContainMeasurements()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::framesContainMeasurements ( const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > & stamped_msg )

inlineprivate

Exceptions

data_conversion_layer::monitoring_frame::AdditionalFieldMissing if measurements is not set in one of the msgs.

Definition at line 287 of file scanner_state_machine_def.h.

◆ handleMonitoringFrame()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::handleMonitoringFrame ( const scanner_events::RawMonitoringFrameReceived & event )

inline

Definition at line 171 of file scanner_state_machine_def.h.

◆ handleMonitoringFrameTimeout()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::handleMonitoringFrameTimeout ( const scanner_events::MonitoringFrameTimeout & event )

inline

Definition at line 300 of file scanner_state_machine_def.h.

◆ handleStartRequestTimeout()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::handleStartRequestTimeout ( const scanner_events::StartTimeout & event )

inline

Definition at line 154 of file scanner_state_machine_def.h.

◆ informUserAboutTheScanData()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::informUserAboutTheScanData ( const data_conversion_layer::monitoring_frame::MessageStamped & stamped_msg )

inlineprivate

Exceptions

data_conversion_layer::monitoring_frame::AdditionalFieldMissing if scan_counter, active_zoneset or measurements is not set.

Definition at line 248 of file scanner_state_machine_def.h.

◆ isAcceptedReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isAcceptedReply ( data_conversion_layer::scanner_reply::Message const & msg )

inlineprivate

Definition at line 381 of file scanner_state_machine_def.h.

◆ isAcceptedStartReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isAcceptedStartReply ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 339 of file scanner_state_machine_def.h.

◆ isAcceptedStopReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isAcceptedStopReply ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 360 of file scanner_state_machine_def.h.

◆ isRefusedReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isRefusedReply ( data_conversion_layer::scanner_reply::Message const & msg )

inlineprivate

Definition at line 391 of file scanner_state_machine_def.h.

◆ isRefusedStartReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isRefusedStartReply ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 353 of file scanner_state_machine_def.h.

◆ isRefusedStopReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isRefusedStopReply ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 374 of file scanner_state_machine_def.h.

◆ isStartReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isStartReply ( data_conversion_layer::scanner_reply::Message const & msg )

inlineprivate

Definition at line 396 of file scanner_state_machine_def.h.

◆ isStopReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isStopReply ( data_conversion_layer::scanner_reply::Message const & msg )

inlineprivate

Definition at line 401 of file scanner_state_machine_def.h.

◆ isUnknownReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isUnknownReply ( data_conversion_layer::scanner_reply::Message const & msg )

inlineprivate

Definition at line 386 of file scanner_state_machine_def.h.

◆ isUnknownStartReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isUnknownStartReply ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 346 of file scanner_state_machine_def.h.

◆ isUnknownStopReply()

bool psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::isUnknownStopReply ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 367 of file scanner_state_machine_def.h.

◆ no_transition() [1/2]

template<class FSM , class Event >

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::no_transition	(	Event const &	event,
		FSM &	,
		int	state
	)

Definition at line 439 of file scanner_state_machine_def.h.

◆ no_transition() [2/2]

template<class FSM >

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::no_transition	(	const scanner_events::RawMonitoringFrameReceived &	,
		FSM &	,
		int	state
	)

Definition at line 448 of file scanner_state_machine_def.h.

◆ notifyUserAboutRefusedStartReply()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::notifyUserAboutRefusedStartReply ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 211 of file scanner_state_machine_def.h.

◆ notifyUserAboutRefusedStopReply()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::notifyUserAboutRefusedStopReply ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 223 of file scanner_state_machine_def.h.

◆ notifyUserAboutStart()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::notifyUserAboutStart ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 193 of file scanner_state_machine_def.h.

◆ notifyUserAboutStop()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::notifyUserAboutStop ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 198 of file scanner_state_machine_def.h.

◆ notifyUserAboutUnknownStartReply()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::notifyUserAboutUnknownStartReply ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 203 of file scanner_state_machine_def.h.

◆ notifyUserAboutUnknownStopReply()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::notifyUserAboutUnknownStopReply ( scanner_events::RawReplyReceived const & reply_event )

inline

Definition at line 216 of file scanner_state_machine_def.h.

◆ sendMessageWithMeasurements()

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::sendMessageWithMeasurements ( const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > & stamped_msg )

inlineprivate

Exceptions

data_conversion_layer::monitoring_frame::AdditionalFieldMissing if scan_counter, active_zoneset or measurements is not set in one of the msgs.

Definition at line 269 of file scanner_state_machine_def.h.

◆ sendStartRequest()

template<class T >

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::sendStartRequest ( const T & event )

inline

Definition at line 140 of file scanner_state_machine_def.h.

◆ sendStopRequest()

template<class T >

void psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::sendStopRequest ( const T & event )

inline

Definition at line 164 of file scanner_state_machine_def.h.

◆ STATE() [1/6]

psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::STATE ( Idle )

◆ STATE() [2/6]

psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::STATE ( WaitForStartReply )

◆ STATE() [3/6]

psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::STATE ( WaitForMonitoringFrame )

◆ STATE() [4/6]

psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::STATE ( WaitForStopReply )

◆ STATE() [5/6]

psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::STATE ( Stopped )

◆ STATE() [6/6]

psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::STATE ( Error )

Member Data Documentation

◆ config_

ScannerConfiguration psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::config_

private

Definition at line 279 of file scanner_state_machine.h.

◆ control_client_

communication_layer::UdpClientImpl psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::control_client_

private

Definition at line 288 of file scanner_state_machine.h.

◆ data_client_

communication_layer::UdpClientImpl psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::data_client_

private

Definition at line 289 of file scanner_state_machine.h.

◆ inform_user_about_laser_scan_callback_

const InformUserAboutLaserScanCallback psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::inform_user_about_laser_scan_callback_

private

Definition at line 296 of file scanner_state_machine.h.

◆ monitoring_frame_timeout_callback_

const std::function<void()> psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::monitoring_frame_timeout_callback_

private

Definition at line 300 of file scanner_state_machine.h.

◆ monitoring_frame_watchdog_

std::unique_ptr<util::Watchdog> psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::monitoring_frame_watchdog_ {}

private

Definition at line 283 of file scanner_state_machine.h.

◆ scan_buffer_

ScanBuffer psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::scan_buffer_ { DEFAULT_NUM_MSG_PER_ROUND }

private

Definition at line 284 of file scanner_state_machine.h.

◆ scanner_started_callback_

const ScannerStartedCallback psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::scanner_started_callback_

private

Definition at line 292 of file scanner_state_machine.h.

◆ scanner_stopped_callback_

const ScannerStoppedCallback psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::scanner_stopped_callback_

private

Definition at line 293 of file scanner_state_machine.h.

◆ start_error_callback_

const StartErrorCallback psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::start_error_callback_

private

Definition at line 294 of file scanner_state_machine.h.

◆ start_reply_watchdog_

std::unique_ptr<util::Watchdog> psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::start_reply_watchdog_ {}

private

Definition at line 281 of file scanner_state_machine.h.

◆ start_timeout_callback_

const std::function<void()> psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::start_timeout_callback_

private

Definition at line 299 of file scanner_state_machine.h.

◆ stop_error_callback_

const StopErrorCallback psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::stop_error_callback_

private

Definition at line 295 of file scanner_state_machine.h.

◆ watchdog_factory_

WatchdogFactory psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::watchdog_factory_ {}

private

Definition at line 303 of file scanner_state_machine.h.

◆ zoneset_reference_msg_

boost::optional<data_conversion_layer::monitoring_frame::Message> psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::zoneset_reference_msg_

private

Definition at line 285 of file scanner_state_machine.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ initial_state

◆ m

Constructor & Destructor Documentation

◆ ScannerProtocolDef()

Member Function Documentation

◆ checkForChangedActiveZoneset()

◆ checkForDiagnosticErrors()

◆ checkForInternalErrors()

◆ exception_caught()

◆ framesContainMeasurements()

◆ handleMonitoringFrame()

◆ handleMonitoringFrameTimeout()

◆ handleStartRequestTimeout()

◆ informUserAboutTheScanData()

◆ isAcceptedReply()

◆ isAcceptedStartReply()

◆ isAcceptedStopReply()

◆ isRefusedReply()

◆ isRefusedStartReply()

◆ isRefusedStopReply()

◆ isStartReply()

◆ isStopReply()

◆ isUnknownReply()

◆ isUnknownStartReply()

◆ isUnknownStopReply()

◆ no_transition() [1/2]

◆ no_transition() [2/2]

◆ notifyUserAboutRefusedStartReply()

◆ notifyUserAboutRefusedStopReply()

◆ notifyUserAboutStart()

◆ notifyUserAboutStop()

◆ notifyUserAboutUnknownStartReply()

◆ notifyUserAboutUnknownStopReply()

◆ sendMessageWithMeasurements()

◆ sendStartRequest()

◆ sendStopRequest()

◆ STATE() [1/6]

◆ STATE() [2/6]

◆ STATE() [3/6]

◆ STATE() [4/6]

◆ STATE() [5/6]

◆ STATE() [6/6]

Member Data Documentation

◆ config_

◆ control_client_

◆ data_client_

◆ inform_user_about_laser_scan_callback_

◆ monitoring_frame_timeout_callback_

◆ monitoring_frame_watchdog_

◆ scan_buffer_

◆ scanner_started_callback_

◆ scanner_stopped_callback_

◆ start_error_callback_

◆ start_reply_watchdog_

◆ start_timeout_callback_

◆ stop_error_callback_

◆ watchdog_factory_

◆ zoneset_reference_msg_