class ColaParser parses and converts binary Cola telegrams to ros messages SickLocColaTelegramMsg and vice versa. More...

#include <cola_parser.h>

Public Types
typedef enum sick_scan::ColaParser::COLA_SOPAS_COMMAND_ENUM	COLA_SOPAS_COMMAND
	Enumeration of SOPAS commands in cola telegrams: The command_type in SickLocColaTelegramMsg is one of the following SOPAS Commands: sINVALID (0, uninitialized, command_type should never have this value) sRN (1, Read by name request), or sRA (2, Read by name response), or sMN (3, Method by name request), or sMA (4, Method by name response), or sWN (5, Write by name request) More...

enum	COLA_SOPAS_COMMAND_ENUM { sINVALID = 0, sRN = 1, sRA = 2, sMN = 3, sAN = 4, sMA = 5, sWN = 6, sWA = 7, sEN = 8, sEA = 9, sSN = 10, sFA = 11, MAX_COLA_COMMAND_NUMBER }
	Enumeration of SOPAS commands in cola telegrams: The command_type in SickLocColaTelegramMsg is one of the following SOPAS Commands: sINVALID (0, uninitialized, command_type should never have this value) sRN (1, Read by name request), or sRA (2, Read by name response), or sMN (3, Method by name request), or sMA (4, Method by name response), or sWN (5, Write by name request) More...

Static Public Member Functions
static const std::string &	asciiETX (void)
	Returns the "end of text" tag in a Cola ASCII command, i.e. "<ETX>". More...

static const std::string &	asciiSTX (void)
	Returns the "start of text" tag in a Cola ASCII command, i.e. "<STX>". More...

static std::vector< uint8_t >	binaryETX (void)
	Returns the binary "end of text" tag in a Cola-Binary command, i.e. {0x03}. More...

static std::vector< uint8_t >	binarySTX (void)
	Returns the binary "start of text" tag in a Cola-Binary command, i.e. {0x02}. More...

static int32_t	convertColaArg (const std::string &cola_arg, int base=10, int32_t default_value=0)

static uint32_t	convertColaArg (const std::string &cola_arg, int base=10, uint32_t default_value=0)

static bool	convertColaResponseBool (const std::string &cola_response_arg, bool default_value)

static std::string	convertSopasCommand (COLA_SOPAS_COMMAND command_type)
	Converts and returns a COLA_SOPAS_COMMAND to string. Example: convertSopasCommand(sMN) returns "sMN". More...

static COLA_SOPAS_COMMAND	convertSopasCommand (const std::string &sopas_command)
	Converts and returns a COLA_SOPAS_COMMAND from string. Example: convertSopasCommand("sMN") returns sMN. More...

static sick_scan::SickLocColaTelegramMsg	createColaTelegram (const COLA_SOPAS_COMMAND &command_type, const std::string &command_name, const std::vector< std::string > &parameter=std::vector< std::string >())
	Creates and returns a Cola telegram (type SickLocColaTelegramMsg). More...

static sick_scan::SickLocColaTelegramMsg	decodeColaTelegram (const std::vector< uint8_t > &cola_binary)
	Decodes and returns a Cola message of type SickLocColaTelegramMsg from a Cola-Binary telegram. Note: If decoding fails (invalid binary telegram or parse error), command_type of the returned Cola telegram message will be sINVALID. More...

static sick_scan::SickLocColaTelegramMsg	decodeColaTelegram (const std::string &cola_ascii)
	Converts and returns a Cola message of type SickLocColaTelegramMsg from a Cola-ASCII telegram. More...

static std::vector< uint8_t >	encodeColaTelegram (const sick_scan::SickLocColaTelegramMsg &cola_telegram, bool parameter_is_ascii=true)
	Encodes and returns a Cola Binary telegram from ros message SickLocColaTelegramMsg. More...

static std::vector< uint8_t >	encodeColaTelegram (const COLA_SOPAS_COMMAND &command_type, const std::string &command_name, const std::vector< std::string > &parameter=std::vector< std::string >(), bool parameter_is_ascii=true)
	Encodes and returns a Cola telegram. More...

Static Protected Attributes
static const std::string	s_cola_ascii_end_tag = "<ETX>"
	All Cola-ACSII telegrams start with s_cola_ascii_start_tag := "<ETX>" ("End of TeXt") More...

static const std::string	s_cola_ascii_start_tag = "<STX>"
	All Cola-ACSII telegrams start with s_cola_ascii_start_tag := "<STX>" ("Start of TeXt") More...

static const std::map< std::string, COLA_SOPAS_COMMAND >	s_command_type_map
	static map to convert COLA_SOPAS_COMMANDs from string to enum, f.e. s_command_type_map["sRN"]:=sRN, s_command_type_map["sRA"]:=sRA and so on More...

static const std::string	s_command_type_string [MAX_COLA_COMMAND_NUMBER]
	static table to convert COLA_SOPAS_COMMAND to string, f.e. s_command_type_string[sRN]:="sRN", s_command_type_string[sRA]:="sRA" and so on More...

Detailed Description

class ColaParser parses and converts binary Cola telegrams to ros messages SickLocColaTelegramMsg and vice versa.

See Operation-Instruction-v1.1.0.241R.pdf, chapter 5.8 "About CoLa-A telegrams", page 46-48, Telegram-Listing-v1.1.0.241R.pdf, chapter 2.3.9 "Command: LocRequestTimestamp", page 21, and Technical_information_Telegram_Listing_NAV_LOC_en_IM0076556.PDF for further details about Cola telegrams.

Definition at line 78 of file cola_parser.h.

Member Typedef Documentation

◆ COLA_SOPAS_COMMAND

typedef enum sick_scan::ColaParser::COLA_SOPAS_COMMAND_ENUM sick_scan::ColaParser::COLA_SOPAS_COMMAND

Enumeration of SOPAS commands in cola telegrams: The command_type in SickLocColaTelegramMsg is one of the following SOPAS Commands: sINVALID (0, uninitialized, command_type should never have this value) sRN (1, Read by name request), or sRA (2, Read by name response), or sMN (3, Method by name request), or sMA (4, Method by name response), or sWN (5, Write by name request)

Member Enumeration Documentation

◆ COLA_SOPAS_COMMAND_ENUM

enum sick_scan::ColaParser::COLA_SOPAS_COMMAND_ENUM

Enumeration of SOPAS commands in cola telegrams: The command_type in SickLocColaTelegramMsg is one of the following SOPAS Commands: sINVALID (0, uninitialized, command_type should never have this value) sRN (1, Read by name request), or sRA (2, Read by name response), or sMN (3, Method by name request), or sMA (4, Method by name response), or sWN (5, Write by name request)

Enumerator
sINVALID	uninitialized, command_type should never have this value)
sRN	Read by name (request)
sRA	Read by name (response)
sMN	Method by name (request)
sAN	Response to sMN.
sMA	Method by name (response)
sWN	Write by name (request)
sWA	Write answer (response)
sEN	Event by name (request)
sEA	Event answer (response)
sSN	Answer (response)
sFA	Error Answer with error code (response)
MAX_COLA_COMMAND_NUMBER	Number of possible COLA_SOPAS_COMMANDs incl. invalid command.

Definition at line 92 of file cola_parser.h.

Member Function Documentation

◆ asciiETX()

static const std::string& sick_scan::ColaParser::asciiETX ( void )

inlinestatic

Returns the "end of text" tag in a Cola ASCII command, i.e. "<ETX>".

Returns: "<ETX>"

Definition at line 164 of file cola_parser.h.

◆ asciiSTX()

static const std::string& sick_scan::ColaParser::asciiSTX ( void )

inlinestatic

Returns the "start of text" tag in a Cola ASCII command, i.e. "<STX>".

Returns: "<STX>"

Definition at line 158 of file cola_parser.h.

◆ binaryETX()

static std::vector<uint8_t> sick_scan::ColaParser::binaryETX ( void )

inlinestatic

Returns the binary "end of text" tag in a Cola-Binary command, i.e. {0x03}.

Returns: {0x03}

Definition at line 176 of file cola_parser.h.

◆ binarySTX()

static std::vector<uint8_t> sick_scan::ColaParser::binarySTX ( void )

inlinestatic

Returns the binary "start of text" tag in a Cola-Binary command, i.e. {0x02}.

Returns: {0x02}

Definition at line 170 of file cola_parser.h.

◆ convertColaArg() [1/2]

int32_t sick_scan::ColaParser::convertColaArg	(	const std::string &	cola_arg,
		int	base = `10`,
		int32_t	default_value = `0`
	)

static

Converts and returns the parameter of a cola ascii telegram into a numeric value.

Parameters

[in]	cola_arg	parameter of a cola ascii telegram
[in]	base	numeric base (10 for decimal values, 16 for hex strings or -1 for autodetection with base 10 in case of +/-sign, otherwise hex)
[in]	default_value	default value returned in case of parse errors

Returns: parameter converted to integer value

Definition at line 245 of file cola_parser.cpp.

◆ convertColaArg() [2/2]

uint32_t sick_scan::ColaParser::convertColaArg	(	const std::string &	cola_arg,
		int	base = `10`,
		uint32_t	default_value = `0`
	)

static

Converts and returns the parameter of a cola ascii telegram into an unsigned numeric value.

Parameters

[in]	cola_arg	parameter of a cola ascii telegram
[in]	base	numeric base (10 for decimal values, 16 for hex strings or -1 for autodetection with base 10 in case of +/-sign, otherwise hex)
[in]	default_value	default value returned in case of parse errors

Returns: parameter converted to integer value

Converts and returns the parameter of a cola ascii telegram into a numeric value.

Parameters

[in]	cola_arg	parameter of a cola ascii telegram
[in]	base	numeric base (10 for decimal values, 16 for hex strings or -1 for autodetection with base 10 in case of +/-sign, otherwise hex)
[in]	default_value	default value returned in case of parse errors

Returns: parameter converted to integer value

Definition at line 267 of file cola_parser.cpp.

◆ convertColaResponseBool()

bool sick_scan::ColaParser::convertColaResponseBool	(	const std::string &	cola_response_arg,
		bool	default_value
	)

static

Converts and returns the parameter of a cola ascii response into a boolean value.

Parameters

[in]	cola_response_arg	parameter of a cola ascii response
[in]	default_value	default value returned in case of parse errors

Returns: parameter converted to boolean value

Definition at line 288 of file cola_parser.cpp.

◆ convertSopasCommand() [1/2]

std::string sick_scan::ColaParser::convertSopasCommand ( COLA_SOPAS_COMMAND command_type )

static

Converts and returns a COLA_SOPAS_COMMAND to string. Example: convertSopasCommand(sMN) returns "sMN".

Parameters

[in] command_type One of the SOPAS Commands enumerated in COLA_SOPAS_COMMAND (sRN, sRA, sMN, sMA, or sWN)

Returns: COLA_SOPAS_COMMAND as string.

Definition at line 220 of file cola_parser.cpp.

◆ convertSopasCommand() [2/2]

sick_scan::ColaParser::COLA_SOPAS_COMMAND sick_scan::ColaParser::convertSopasCommand ( const std::string & sopas_command )

static

Converts and returns a COLA_SOPAS_COMMAND from string. Example: convertSopasCommand("sMN") returns sMN.

Parameters

[in] sopas_command One of the SOPAS commands ("sRN", "sRA", "sMN", "sMA", or "sWN")

Returns: COLA_SOPAS_COMMAND from string.

Definition at line 231 of file cola_parser.cpp.

◆ createColaTelegram()

sick_scan::SickLocColaTelegramMsg sick_scan::ColaParser::createColaTelegram	(	const COLA_SOPAS_COMMAND &	command_type,
		const std::string &	command_name,
		const std::vector< std::string > &	parameter = `std::vector<std::string>()`
	)

static

Creates and returns a Cola telegram (type SickLocColaTelegramMsg).

Create and returns a Cola telegram (type SickLocColaTelegramMsg).

Parameters

[in]	command_type	One of the SOPAS Commands enumerated in COLA_SOPAS_COMMAND (sRN, sRA, sMN, sMA, or sWN)
[in]	command_name	Name of command like "SetAccessMode", "LocSetResultPoseEnabled", "LocRequestTimestamp", etc.
[in]	parameter	Optional list of command parameter

Returns: Cola telegram of type SickLocColaTelegramMsg

Definition at line 100 of file cola_parser.cpp.

◆ decodeColaTelegram() [1/2]

sick_scan::SickLocColaTelegramMsg sick_scan::ColaParser::decodeColaTelegram ( const std::vector< uint8_t > & cola_binary )

static

Decodes and returns a Cola message of type SickLocColaTelegramMsg from a Cola-Binary telegram. Note: If decoding fails (invalid binary telegram or parse error), command_type of the returned Cola telegram message will be sINVALID.

Parameters

[in] cola_binary Cola-Binary telegram, f.e. { 0x02, 0x73, 0x4D, 0x4E, 0x20, 0x53, 0x65, 0x74, 0x41, 0x63, 0x63, 0x65, 0x73, 0x73, 0x4D, 0x6F, 0x64, 0x65, 0x20, 0x33, 0x20, 0x46, 0x34, 0x37, 0x32, 0x34, 0x37, 0x34, 0x34, 0x03 }

Returns: Cola telegram message (type SickLocColaTelegramMsg)

Definition at line 119 of file cola_parser.cpp.

◆ decodeColaTelegram() [2/2]

sick_scan::SickLocColaTelegramMsg sick_scan::ColaParser::decodeColaTelegram ( const std::string & cola_ascii )

static

Converts and returns a Cola message of type SickLocColaTelegramMsg from a Cola-ASCII telegram.

Parameters

[in] cola_ascii Cola-ASCII telegram, f.e. "<STX>sMN LocRequestTimestamp<ETX>"

Returns: Cola telegram message (type SickLocColaTelegramMsg)

Definition at line 130 of file cola_parser.cpp.

◆ encodeColaTelegram() [1/2]

std::vector< uint8_t > sick_scan::ColaParser::encodeColaTelegram	(	const sick_scan::SickLocColaTelegramMsg &	cola_telegram,
		bool	parameter_is_ascii = `true`
	)

static

Encodes and returns a Cola Binary telegram from ros message SickLocColaTelegramMsg.

Parameters

[in] cola_telegram Cola telegram, f.e. createColaTelegram(sMN, "SetAccessMode", {"3", "F4724744"})

Returns: Cola-Binary telegram, f.e. { 0x02, 0x73, 0x4D, 0x4E, 0x20, 0x53, 0x65, 0x74, 0x41, 0x63, 0x63, 0x65, 0x73, 0x73, 0x4D, 0x6F, 0x64, 0x65, 0x20, 0x33, 0x20, 0x46, 0x34, 0x37, 0x32, 0x34, 0x37, 0x34, 0x34, 0x03 }

Definition at line 182 of file cola_parser.cpp.

◆ encodeColaTelegram() [2/2]

std::vector< uint8_t > sick_scan::ColaParser::encodeColaTelegram	(	const COLA_SOPAS_COMMAND &	command_type,
		const std::string &	command_name,
		const std::vector< std::string > &	parameter = `std::vector<std::string>()`,
		bool	parameter_is_ascii = `true`
	)

static

Encodes and returns a Cola telegram.

Parameters

[in]	command_type	One of the SOPAS Commands enumerated in COLA_SOPAS_COMMAND (sRN, sRA, sMN, sMA, or sWN)
[in]	command_name	Name of command like "SetAccessMode", "LocSetResultPoseEnabled", "LocRequestTimestamp", etc.
[in]	parameter	Optional list of command parameter

Returns: Cola-Binary telegram

Definition at line 208 of file cola_parser.cpp.

Member Data Documentation

◆ s_cola_ascii_end_tag

const std::string sick_scan::ColaParser::s_cola_ascii_end_tag = "<ETX>"

staticprotected

All Cola-ACSII telegrams start with s_cola_ascii_start_tag := "<ETX>" ("End of TeXt")

Definition at line 225 of file cola_parser.h.

◆ s_cola_ascii_start_tag

const std::string sick_scan::ColaParser::s_cola_ascii_start_tag = "<STX>"

staticprotected

All Cola-ACSII telegrams start with s_cola_ascii_start_tag := "<STX>" ("Start of TeXt")

Definition at line 224 of file cola_parser.h.

◆ s_command_type_map

const std::map< std::string, sick_scan::ColaParser::COLA_SOPAS_COMMAND > sick_scan::ColaParser::s_command_type_map

staticprotected

Initial value:

=
  {
    {"", sINVALID}, {"sINVALID", sINVALID}, {"sRN", sRN}, {"sRA", sRA}, {"sMN", sMN}, {"sAN", sAN}, {"sMA", sMA}, {"sWN", sWN}, {"sWA", sWA}, {"sEN", sEN}, {"sEA", sEA}, {"sSN", sSN}, {"sFA", sFA}
  }

static map to convert COLA_SOPAS_COMMANDs from string to enum, f.e. s_command_type_map["sRN"]:=sRN, s_command_type_map["sRA"]:=sRA and so on

Definition at line 223 of file cola_parser.h.

◆ s_command_type_string

const std::string sick_scan::ColaParser::s_command_type_string

staticprotected

Initial value:

=
  {
    "sINVALID", "sRN", "sRA", "sMN", "sAN", "sMA", "sWN", "sWA", "sEN", "sEA", "sSN", "sFA"
  }

static table to convert COLA_SOPAS_COMMAND to string, f.e. s_command_type_string[sRN]:="sRN", s_command_type_string[sRA]:="sRA" and so on

Definition at line 222 of file cola_parser.h.

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

Public Types

Static Public Member Functions

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ COLA_SOPAS_COMMAND

Member Enumeration Documentation

◆ COLA_SOPAS_COMMAND_ENUM

Member Function Documentation

◆ asciiETX()

◆ asciiSTX()

◆ binaryETX()

◆ binarySTX()

◆ convertColaArg() [1/2]

◆ convertColaArg() [2/2]

◆ convertColaResponseBool()

◆ convertSopasCommand() [1/2]

◆ convertSopasCommand() [2/2]

◆ createColaTelegram()

◆ decodeColaTelegram() [1/2]

◆ decodeColaTelegram() [2/2]

◆ encodeColaTelegram() [1/2]

◆ encodeColaTelegram() [2/2]

Member Data Documentation

◆ s_cola_ascii_end_tag

◆ s_cola_ascii_start_tag

◆ s_command_type_map

◆ s_command_type_string