#include <urg_sim.h>

Classes
struct	Params

Public Types
enum	MeasurementMode { MeasurementMode::RANGE, MeasurementMode::RANGE_INTENSITY }

enum	Model { Model::UTM, Model::UST_UUST1, Model::UST_UUST2 }

enum	SensorState { SensorState::BOOTING, SensorState::IDLE, SensorState::SINGLE_SCAN, SensorState::MULTI_SCAN, SensorState::TIME_ADJUSTMENT, SensorState::ERROR_DETECTED }

Public Member Functions
int	getBootCnt ()

boost::asio::ip::tcp::endpoint	getLocalEndpoint () const

void	kill ()

void	setState (const SensorState s)

void	spin ()

	URGSimulator (const boost::asio::ip::tcp::endpoint &endpoint, const URGSimulator::Params &params, const RawScanDataCallback raw_scan_data_cb=nopRawScanDataCallback)

Private Types
using	KeyValue = std::pair< std::string, std::string >

using	KeyValues = std::vector< KeyValue >

Private Member Functions
void	accept ()

void	accepted (const boost::system::error_code &ec)

void	asyncRead ()

void	booted ()

void	fifo (boost::asio::io_service &fifo)

void	handleBM (const std::string cmd)

void	handleDisconnect ()

void	handleII (const std::string cmd)

void	handleMX (const std::string cmd)

void	handlePP (const std::string cmd)

void	handleQT (const std::string cmd)

void	handleRB (const std::string cmd)

void	handleRS (const std::string cmd)

void	handleTM (const std::string cmd)

void	handleUnknown (const std::string cmd)

void	handleVV (const std::string cmd)

void	nextScan ()

void	onRead (const boost::system::error_code &ec)

void	processInput (const std::string cmd, const boost::posix_time::ptime &when)

double	randomCommDelay ()

void	reboot ()

void	reset ()

void	response (const std::string echo, const std::string status, const std::string data="")

void	responseKeyValues (const std::string echo, const std::string status, const KeyValues kv)

void	scan ()

void	send (const std::string data, const boost::posix_time::ptime &when)

void	sendScan ()

uint32_t	timestamp (const boost::posix_time::ptime &now=boost::posix_time::microsec_clock::universal_time())

bool	validateExtraString (const std::string &cmd, const size_t expected_size)

void	waitTick (const uint64_t n)

Private Attributes
boost::asio::ip::tcp::acceptor	acceptor_

int	boot_cnt_

boost::asio::deadline_timer	boot_timer_

std::normal_distribution< double >	comm_delay_distribution_

std::string	firm_version_

std::map< std::string, std::function< void(const std::string)> >	handlers_

boost::asio::streambuf	input_buf_

boost::asio::io_service	input_fifo_

boost::asio::io_service	io_service_

std::atomic< bool >	killed_

RawScanData::Ptr	last_raw_scan_

boost::posix_time::ptime	last_rb_

std::string	measurement_cmd_

int	measurement_cnt_

int	measurement_end_step_

std::string	measurement_extra_string_

int	measurement_grouping_step_

MeasurementMode	measurement_mode_

int	measurement_scans_

int	measurement_sent_

int	measurement_skips_

int	measurement_start_step_

std::string	model_name_

std::mutex	mu_

boost::posix_time::ptime	next_scan_

boost::asio::io_service	output_fifo_

const URGSimulator::Params	params_

std::default_random_engine	rand_engine_

RawScanDataCallback	raw_scan_data_cb_

boost::asio::deadline_timer	scan_timer_

SensorState	sensor_state_

boost::asio::ip::tcp::socket	socket_

boost::posix_time::ptime	timestamp_epoch_

Detailed Description

Definition at line 59 of file urg_sim.h.

Member Typedef Documentation

◆ KeyValue

using urg_sim::URGSimulator::KeyValue = std::pair<std::string, std::string>

private

Definition at line 155 of file urg_sim.h.

◆ KeyValues

using urg_sim::URGSimulator::KeyValues = std::vector<KeyValue>

private

Definition at line 156 of file urg_sim.h.

Member Enumeration Documentation

◆ MeasurementMode

enum urg_sim::URGSimulator::MeasurementMode

strong

Enumerator
RANGE
RANGE_INTENSITY

Definition at line 91 of file urg_sim.h.

◆ Model

enum urg_sim::URGSimulator::Model

strong

Enumerator
UTM
UST_UUST1
UST_UUST2

Definition at line 62 of file urg_sim.h.

◆ SensorState

enum urg_sim::URGSimulator::SensorState

strong

Enumerator
BOOTING
IDLE
SINGLE_SCAN
MULTI_SCAN
TIME_ADJUSTMENT
ERROR_DETECTED

Definition at line 82 of file urg_sim.h.

Constructor & Destructor Documentation

◆ URGSimulator()

urg_sim::URGSimulator::URGSimulator	(	const boost::asio::ip::tcp::endpoint &	endpoint,
		const URGSimulator::Params &	params,
		const RawScanDataCallback	raw_scan_data_cb = `nopRawScanDataCallback`
	)

inline

Definition at line 97 of file urg_sim.h.

Member Function Documentation

◆ accept()

void urg_sim::URGSimulator::accept ( )

private

Definition at line 586 of file urg_sim.cpp.

◆ accepted()

void urg_sim::URGSimulator::accepted ( const boost::system::error_code & ec )

private

Definition at line 597 of file urg_sim.cpp.

◆ asyncRead()

void urg_sim::URGSimulator::asyncRead ( )

private

Definition at line 54 of file urg_sim.cpp.

◆ booted()

void urg_sim::URGSimulator::booted ( )

private

Definition at line 508 of file urg_sim.cpp.

◆ fifo()

void urg_sim::URGSimulator::fifo ( boost::asio::io_service & fifo )

private

Definition at line 797 of file urg_sim.cpp.

◆ getBootCnt()

int urg_sim::URGSimulator::getBootCnt ( )

Definition at line 839 of file urg_sim.cpp.

◆ getLocalEndpoint()

boost::asio::ip::tcp::endpoint urg_sim::URGSimulator::getLocalEndpoint ( ) const

inline

Definition at line 144 of file urg_sim.h.

◆ handleBM()

void urg_sim::URGSimulator::handleBM ( const std::string cmd )

private

Definition at line 297 of file urg_sim.cpp.

◆ handleDisconnect()

void urg_sim::URGSimulator::handleDisconnect ( )

private

Definition at line 465 of file urg_sim.cpp.

◆ handleII()

void urg_sim::URGSimulator::handleII ( const std::string cmd )

private

Definition at line 110 of file urg_sim.cpp.

◆ handleMX()

void urg_sim::URGSimulator::handleMX ( const std::string cmd )

private

Definition at line 401 of file urg_sim.cpp.

◆ handlePP()

void urg_sim::URGSimulator::handlePP ( const std::string cmd )

private

Definition at line 206 of file urg_sim.cpp.

◆ handleQT()

void urg_sim::URGSimulator::handleQT ( const std::string cmd )

private

Definition at line 325 of file urg_sim.cpp.

◆ handleRB()

void urg_sim::URGSimulator::handleRB ( const std::string cmd )

private

Definition at line 377 of file urg_sim.cpp.

◆ handleRS()

void urg_sim::URGSimulator::handleRS ( const std::string cmd )

private

Definition at line 354 of file urg_sim.cpp.

◆ handleTM()

void urg_sim::URGSimulator::handleTM ( const std::string cmd )

private

Definition at line 230 of file urg_sim.cpp.

◆ handleUnknown()

void urg_sim::URGSimulator::handleUnknown ( const std::string cmd )

private

Definition at line 456 of file urg_sim.cpp.

◆ handleVV()

void urg_sim::URGSimulator::handleVV ( const std::string cmd )

private

Definition at line 189 of file urg_sim.cpp.

◆ kill()

void urg_sim::URGSimulator::kill ( )

Definition at line 825 of file urg_sim.cpp.

◆ nextScan()

void urg_sim::URGSimulator::nextScan ( )

private

Definition at line 621 of file urg_sim.cpp.

◆ onRead()

void urg_sim::URGSimulator::onRead ( const boost::system::error_code & ec )

private

Definition at line 62 of file urg_sim.cpp.

◆ processInput()

void urg_sim::URGSimulator::processInput	(	const std::string	cmd,
		const boost::posix_time::ptime &	when
	)

private

Definition at line 85 of file urg_sim.cpp.

◆ randomCommDelay()

double urg_sim::URGSimulator::randomCommDelay ( )

private

Definition at line 845 of file urg_sim.cpp.

◆ reboot()

void urg_sim::URGSimulator::reboot ( )

private

Definition at line 478 of file urg_sim.cpp.

◆ reset()

void urg_sim::URGSimulator::reset ( )

private

◆ response()

void urg_sim::URGSimulator::response	(	const std::string	echo,
		const std::string	status,
		const std::string	data = `""`
	)

private

Definition at line 531 of file urg_sim.cpp.

◆ responseKeyValues()

void urg_sim::URGSimulator::responseKeyValues	(	const std::string	echo,
		const std::string	status,
		const KeyValues	kv
	)

private

Definition at line 549 of file urg_sim.cpp.

◆ scan()

void urg_sim::URGSimulator::scan ( )

private

Definition at line 633 of file urg_sim.cpp.

◆ send()

void urg_sim::URGSimulator::send	(	const std::string	data,
		const boost::posix_time::ptime &	when
	)

private

Definition at line 563 of file urg_sim.cpp.

◆ sendScan()

void urg_sim::URGSimulator::sendScan ( )

private

Definition at line 702 of file urg_sim.cpp.

◆ setState()

void urg_sim::URGSimulator::setState ( const SensorState s )

Definition at line 833 of file urg_sim.cpp.

◆ spin()

void urg_sim::URGSimulator::spin ( )

Definition at line 779 of file urg_sim.cpp.

◆ timestamp()

uint32_t urg_sim::URGSimulator::timestamp ( const boost::posix_time::ptime & now = boost::posix_time::microsec_clock::universal_time() )

private

Definition at line 580 of file urg_sim.cpp.

◆ validateExtraString()

bool urg_sim::URGSimulator::validateExtraString	(	const std::string &	cmd,
		const size_t	expected_size
	)

private

Definition at line 758 of file urg_sim.cpp.

◆ waitTick()

void urg_sim::URGSimulator::waitTick ( const uint64_t n )

private

Definition at line 851 of file urg_sim.cpp.

Member Data Documentation

◆ acceptor_

boost::asio::ip::tcp::acceptor urg_sim::URGSimulator::acceptor_

private

Definition at line 165 of file urg_sim.h.

◆ boot_cnt_

int urg_sim::URGSimulator::boot_cnt_

private

Definition at line 194 of file urg_sim.h.

◆ boot_timer_

boost::asio::deadline_timer urg_sim::URGSimulator::boot_timer_

private

Definition at line 168 of file urg_sim.h.

◆ comm_delay_distribution_

std::normal_distribution<double> urg_sim::URGSimulator::comm_delay_distribution_

private

Definition at line 175 of file urg_sim.h.

◆ firm_version_

std::string urg_sim::URGSimulator::firm_version_

private

Definition at line 160 of file urg_sim.h.

◆ handlers_

std::map<std::string, std::function<void(const std::string)> > urg_sim::URGSimulator::handlers_

private

Definition at line 179 of file urg_sim.h.

◆ input_buf_

boost::asio::streambuf urg_sim::URGSimulator::input_buf_

private

Definition at line 167 of file urg_sim.h.

◆ input_fifo_

boost::asio::io_service urg_sim::URGSimulator::input_fifo_

private

Definition at line 163 of file urg_sim.h.

◆ io_service_

boost::asio::io_service urg_sim::URGSimulator::io_service_

private

Definition at line 162 of file urg_sim.h.

◆ killed_

std::atomic<bool> urg_sim::URGSimulator::killed_

private

Definition at line 177 of file urg_sim.h.

◆ last_raw_scan_

RawScanData::Ptr urg_sim::URGSimulator::last_raw_scan_

private

Definition at line 182 of file urg_sim.h.

◆ last_rb_

boost::posix_time::ptime urg_sim::URGSimulator::last_rb_

private

Definition at line 181 of file urg_sim.h.

◆ measurement_cmd_

std::string urg_sim::URGSimulator::measurement_cmd_

private

Definition at line 192 of file urg_sim.h.

◆ measurement_cnt_

int urg_sim::URGSimulator::measurement_cnt_

private

Definition at line 190 of file urg_sim.h.

◆ measurement_end_step_

int urg_sim::URGSimulator::measurement_end_step_

private

Definition at line 186 of file urg_sim.h.

◆ measurement_extra_string_

std::string urg_sim::URGSimulator::measurement_extra_string_

private

Definition at line 193 of file urg_sim.h.

◆ measurement_grouping_step_

int urg_sim::URGSimulator::measurement_grouping_step_

private

Definition at line 187 of file urg_sim.h.

◆ measurement_mode_

MeasurementMode urg_sim::URGSimulator::measurement_mode_

private

Definition at line 184 of file urg_sim.h.

◆ measurement_scans_

int urg_sim::URGSimulator::measurement_scans_

private

Definition at line 189 of file urg_sim.h.

◆ measurement_sent_

int urg_sim::URGSimulator::measurement_sent_

private

Definition at line 191 of file urg_sim.h.

◆ measurement_skips_

int urg_sim::URGSimulator::measurement_skips_

private

Definition at line 188 of file urg_sim.h.

◆ measurement_start_step_

int urg_sim::URGSimulator::measurement_start_step_

private

Definition at line 185 of file urg_sim.h.

◆ model_name_

std::string urg_sim::URGSimulator::model_name_

private

Definition at line 159 of file urg_sim.h.

◆ mu_

std::mutex urg_sim::URGSimulator::mu_

private

Definition at line 170 of file urg_sim.h.

◆ next_scan_

boost::posix_time::ptime urg_sim::URGSimulator::next_scan_

private

Definition at line 183 of file urg_sim.h.

◆ output_fifo_

boost::asio::io_service urg_sim::URGSimulator::output_fifo_

private

Definition at line 164 of file urg_sim.h.

◆ params_

const URGSimulator::Params urg_sim::URGSimulator::params_

private

Definition at line 158 of file urg_sim.h.

◆ rand_engine_

std::default_random_engine urg_sim::URGSimulator::rand_engine_

private

Definition at line 174 of file urg_sim.h.

◆ raw_scan_data_cb_

RawScanDataCallback urg_sim::URGSimulator::raw_scan_data_cb_

private

Definition at line 172 of file urg_sim.h.

◆ scan_timer_

boost::asio::deadline_timer urg_sim::URGSimulator::scan_timer_

private

Definition at line 169 of file urg_sim.h.

◆ sensor_state_

SensorState urg_sim::URGSimulator::sensor_state_

private

Definition at line 180 of file urg_sim.h.

◆ socket_

boost::asio::ip::tcp::socket urg_sim::URGSimulator::socket_

private

Definition at line 166 of file urg_sim.h.

◆ timestamp_epoch_

boost::posix_time::ptime urg_sim::URGSimulator::timestamp_epoch_

private

Definition at line 178 of file urg_sim.h.

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

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ KeyValue

◆ KeyValues

Member Enumeration Documentation

◆ MeasurementMode

◆ Model

◆ SensorState

Constructor & Destructor Documentation

◆ URGSimulator()

Member Function Documentation

◆ accept()

◆ accepted()

◆ asyncRead()

◆ booted()

◆ fifo()

◆ getBootCnt()

◆ getLocalEndpoint()

◆ handleBM()

◆ handleDisconnect()

◆ handleII()

◆ handleMX()

◆ handlePP()

◆ handleQT()

◆ handleRB()

◆ handleRS()

◆ handleTM()

◆ handleUnknown()

◆ handleVV()

◆ kill()

◆ nextScan()

◆ onRead()

◆ processInput()

◆ randomCommDelay()

◆ reboot()

◆ reset()

◆ response()

◆ responseKeyValues()

◆ scan()

◆ send()

◆ sendScan()

◆ setState()

◆ spin()

◆ timestamp()

◆ validateExtraString()

◆ waitTick()

Member Data Documentation

◆ acceptor_

◆ boot_cnt_

◆ boot_timer_

◆ comm_delay_distribution_

◆ firm_version_

◆ handlers_

◆ input_buf_

◆ input_fifo_

◆ io_service_

◆ killed_

◆ last_raw_scan_

◆ last_rb_

◆ measurement_cmd_

◆ measurement_cnt_

◆ measurement_end_step_

◆ measurement_extra_string_

◆ measurement_grouping_step_

◆ measurement_mode_

◆ measurement_scans_

◆ measurement_sent_

◆ measurement_skips_

◆ measurement_start_step_

◆ model_name_

◆ mu_

◆ next_scan_

◆ output_fifo_

◆ params_