cola_parser.h

Go to the documentation of this file.

/*
 * @brief sim_loc_cola_parser 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.
 *
 * 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_COLA_PARSER_H_INCLUDED
#define __SIM_LOC_COLA_PARSER_H_INCLUDED
 
#include "sick_scan/ros_wrapper.h"
#include "sick_scan/cola_converter.h"
 
namespace sick_scan
{
  class ColaParser
  {
  public:
  
    typedef 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 
    } COLA_SOPAS_COMMAND;
  
    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>());
  
    static sick_scan::SickLocColaTelegramMsg decodeColaTelegram(const std::vector<uint8_t> & cola_binary);
  
    static sick_scan::SickLocColaTelegramMsg decodeColaTelegram(const std::string & cola_ascii);
  
    static std::vector<uint8_t> encodeColaTelegram(const sick_scan::SickLocColaTelegramMsg & cola_telegram, bool parameter_is_ascii = true);
  
    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);
  
    static const std::string & asciiSTX(void) { return s_cola_ascii_start_tag; }
  
    static const std::string & asciiETX(void) { return s_cola_ascii_end_tag; }
  
    static std::vector<uint8_t> binarySTX(void){ return sick_scan::ColaAsciiBinaryConverter::ConvertColaAscii(asciiSTX()); }
  
    static std::vector<uint8_t> binaryETX(void){ return sick_scan::ColaAsciiBinaryConverter::ConvertColaAscii(asciiETX()); }
  
    static std::string convertSopasCommand(COLA_SOPAS_COMMAND command_type);
  
    static COLA_SOPAS_COMMAND convertSopasCommand(const std::string & sopas_command);
 
    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);
 
  protected:
  
    static const std::string s_command_type_string[MAX_COLA_COMMAND_NUMBER]; 
    static const std::map<std::string, COLA_SOPAS_COMMAND> s_command_type_map; 
    static const std::string s_cola_ascii_start_tag; 
    static const std::string s_cola_ascii_end_tag; 
    
  }; // class ColaParser
  
} // namespace sick_scan
#endif // __SIM_LOC_COLA_PARSER_H_INCLUDED