result_port_parser.h

Go to the documentation of this file.

/*
 * @brief sim_loc_result_port_parser implements a parser for
 * result port telegrams for SIM Localization.
 *
 * Copyright (C) 2019 Ing.-Buero Dr. Michael Lehning, Hildesheim
 * Copyright (C) 2019 SICK AG, Waldkirch
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *       http://www.apache.org/licenses/LICENSE-2.0
 *
 *   Unless required by applicable law or agreed to in writing, software
 *   distributed under the License is distributed on an "AS IS" BASIS,
 *   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *   See the License for the specific language governing permissions and
 *   limitations under the License.
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of SICK AG nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission
 *     * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 *      Authors:
 *         Michael Lehning <michael.lehning@lehning.de>
 *
 *  Copyright 2019 SICK AG
 *  Copyright 2019 Ing.-Buero Dr. Michael Lehning
 *
 */
#ifndef __SIM_LOC_RESULT_PORT_PARSER_H_INCLUDED
#define __SIM_LOC_RESULT_PORT_PARSER_H_INCLUDED

#include "sick_scan/ros_wrapper.h"

namespace sick_scan
{
  class ResultPortParser
  {
  public:
    
    ResultPortParser(const std::string & frame_id = "");
  
    virtual bool decode(const std::vector<uint8_t> & binary_data);
  
    virtual std::vector<uint8_t> encode(void);
  
    virtual sick_scan::SickLocResultPortTelegramMsg & getTelegramMsg(void) { return m_result_port_telegram; }
  
    virtual const sick_scan::SickLocResultPortTelegramMsg & getTelegramMsg(void) const { return m_result_port_telegram; }
    
  protected:

    static void parseAssert(bool assertion, const std::string & assertion_msg, const std::string & info, const std::string & file, int line);

    template<typename T> size_t copyBytesToValue(const std::vector<uint8_t> & binary_data, size_t start_byte, T & value, const std::string & info = "", bool little_endian = false);
  
    template<typename T> size_t copyBytesToArray(const std::vector<uint8_t> & binary_data, size_t start_byte, std::vector<T> & dst_array, const std::string & info = "");

    virtual uint16_t computeChecksum(const std::vector<uint8_t> & binary_data, bool binary_data_with_trailer = true);

    virtual bool isLittleEndianPayload(uint16_t payload_type);

    virtual size_t decodeResultPortHeader(const std::vector<uint8_t> & binary_data, size_t start_byte, sick_scan::SickLocResultPortHeaderMsg & telegram_header);

    virtual size_t decodeResultPortPayload(const std::vector<uint8_t> & binary_data, size_t start_byte, sick_scan::SickLocResultPortPayloadMsg & telegram_payload);

    virtual size_t decodeResultPortTrailer(const std::vector<uint8_t> & binary_data, size_t start_byte, sick_scan::SickLocResultPortCrcMsg & telegram_trailer);

    template<typename T> void encodePushValue(T value, std::vector<uint8_t> & binary_data, bool little_endian = false);
    
    virtual void encodeResultPortHeader(const sick_scan::SickLocResultPortHeaderMsg & telegram_header, std::vector<uint8_t> & binary_data);

    virtual void encodeResultPortPayload(const sick_scan::SickLocResultPortPayloadMsg & telegram_payload, std::vector<uint8_t> & binary_data);

    virtual void encodeResultPortTrailer(uint16_t checksum, std::vector<uint8_t> & binary_data);

    /*
     * member data
     */

    std::string m_publish_frame_id; 
    sick_scan::SickLocResultPortTelegramMsg m_result_port_telegram; 
    bool m_little_endian_payload; 
  
  };
  
} // namespace sick_scan
#endif // __SIM_LOC_RESULT_PORT_PARSER_H_INCLUDED