scanner_state_machine.h File Reference

#include <functional>
#include <string>
#include <memory>
#include <mutex>
#include <chrono>
#include <stdexcept>
#include <unordered_map>
#include <vector>
#include <boost/optional.hpp>
#include <boost/msm/back/state_machine.hpp>
#include <boost/msm/front/state_machine_def.hpp>
#include <boost/msm/back/tools.hpp>
#include <boost/msm/back/metafunctions.hpp>
#include "psen_scan_v2_standalone/protocol_layer/scanner_events.h"
#include "psen_scan_v2_standalone/util/logging.h"
#include "psen_scan_v2_standalone/util/format_range.h"
#include "psen_scan_v2_standalone/util/ip_conversion.h"
#include "psen_scan_v2_standalone/communication_layer/udp_client.h"
#include "psen_scan_v2_standalone/laserscan.h"
#include "psen_scan_v2_standalone/data_conversion_layer/laserscan_conversions.h"
#include "psen_scan_v2_standalone/data_conversion_layer/start_request.h"
#include "psen_scan_v2_standalone/data_conversion_layer/stop_request_serialization.h"
#include "psen_scan_v2_standalone/data_conversion_layer/scanner_reply_msg.h"
#include "psen_scan_v2_standalone/data_conversion_layer/scanner_reply_serialization_deserialization.h"
#include "psen_scan_v2_standalone/data_conversion_layer/monitoring_frame_msg.h"
#include "psen_scan_v2_standalone/data_conversion_layer/monitoring_frame_deserialization.h"
#include "psen_scan_v2_standalone/protocol_layer/scan_buffer.h"
#include "psen_scan_v2_standalone/util/watchdog.h"
#include "psen_scan_v2_standalone/configuration/scanner_ids.h"
#include "psen_scan_v2_standalone/protocol_layer/scanner_state_machine_def.h"

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Classes
class	psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::InternalScannerReplyError
	Exception thrown when something goes wrong with the scanner reply. More...
class	psen_scan_v2_standalone::protocol_layer::IWatchdogFactory
	Interface to create event timeout callbacks. More...
class	psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef
	Definition of the scanner protocol. It is initialized using the StateMachineArgs class. More...
struct	psen_scan_v2_standalone::protocol_layer::ScannerProtocolDef::transition_table
	Table describing the state machine which is specified in the scanner protocol. More...
class	psen_scan_v2_standalone::protocol_layer::WatchdogFactory
	Watchdog factory implementation for scanner interaction timeouts. More...

Namespaces
	psen_scan_v2_standalone
	Root namespace in which the software components to communicate with the scanner (firmware-version: 2) are realised/implemented.
	psen_scan_v2_standalone::protocol_layer
	Namespace for the implementation of the scanner protocol state machine.

Macros
#define	BOOST_MSM_CONSTRUCTOR_ARG_SIZE   12
#define	STATE(state_name)

Typedefs
using	psen_scan_v2_standalone::protocol_layer::InformUserAboutLaserScanCallback = std::function< void(const LaserScan &)>
using	psen_scan_v2_standalone::protocol_layer::ScannerStartedCallback = std::function< void()>
using	psen_scan_v2_standalone::protocol_layer::ScannerStateMachine = msm::back::state_machine< ScannerProtocolDef >
	State machine handling all events according to the scanner protocol and error handling specification. More...
using	psen_scan_v2_standalone::protocol_layer::ScannerStoppedCallback = std::function< void()>
using	psen_scan_v2_standalone::protocol_layer::StartErrorCallback = std::function< void(const std::string &)>
using	psen_scan_v2_standalone::protocol_layer::StopErrorCallback = std::function< void(const std::string &)>
using	psen_scan_v2_standalone::protocol_layer::TimeoutCallback = std::function< void()>

Variables
static constexpr uint32_t	psen_scan_v2_standalone::protocol_layer::DEFAULT_NUM_MSG_PER_ROUND { 6 }
static constexpr std::chrono::milliseconds	psen_scan_v2_standalone::protocol_layer::WATCHDOG_TIMEOUT { 1000 }

Macro Definition Documentation

BOOST_MSM_CONSTRUCTOR_ARG_SIZE

#define BOOST_MSM_CONSTRUCTOR_ARG_SIZE   12

Definition at line 28 of file scanner_state_machine.h.

STATE

#define STATE

(

state_name

)

Value:

  class state_name : public msm::front::state<>\
{\
  public:\
  template <class Event, class FSM>\
  void on_entry(Event const&, FSM& fsm);\
  \
  template <class Event, class FSM>\
  void on_exit(Event const&, FSM& fsm);\
}

Definition at line 72 of file scanner_state_machine.h.