Class managing the algorithmic part of the package. More...

#include <SickSafetyscanners.h>

Public Types
typedef boost::function< void(const sick::datastructure::Data &)>	packetReceivedCallbackFunction
Public Member Functions
void	changeSensorSettings (const sick::datastructure::CommSettings &settings)
	Changes the internal settings of the sensor.
void	requestDeviceName (const sick::datastructure::CommSettings &settings, std::string &device_name)
	Requests the name of the device from the sensor.
void	requestFieldData (const sick::datastructure::CommSettings &settings, std::vector< sick::datastructure::FieldData > &field_data)
	Requests data of the protective and warning fields from the sensor.
void	requestMonitoringCases (const sick::datastructure::CommSettings &settings, std::vector< sick::datastructure::MonitoringCaseData > &monitoring_cases)
	Requests the monitoring cases from the sensor.
void	requestPersistentConfig (const datastructure::CommSettings &settings, sick::datastructure::ConfigData &config_data)
	Requests the persistent configuration from the sensor.
void	requestTypeCode (const sick::datastructure::CommSettings &settings, sick::datastructure::TypeCode &type_code)
	Requests the typecode of the sensor.
bool	run ()
	Start the connection to the sensor and enables output.
	SickSafetyscanners (packetReceivedCallbackFunction newPacketReceivedCallbackFunction, sick::datastructure::CommSettings *settings)
	Constructor of the SickSafetyscanners class.
virtual	~SickSafetyscanners ()
	Destructor.
Private Member Functions
void	changeCommSettingsInColaSession (const datastructure::CommSettings &settings)
void	processTCPPacket (const sick::datastructure::PacketBuffer &buffer)
void	processUDPPacket (const datastructure::PacketBuffer &buffer)
void	requestDeviceNameInColaSession (std::string &device_name)
void	requestFieldDataInColaSession (std::vector< sick::datastructure::FieldData > &fields)
void	requestMonitoringCaseDataInColaSession (std::vector< sick::datastructure::MonitoringCaseData > &monitoring_cases)
void	requestPersistentConfigInColaSession (sick::datastructure::ConfigData &config_data)
void	requestTypeCodeInColaSession (sick::datastructure::TypeCode &type_code)
void	startTCPConnection (const sick::datastructure::CommSettings &settings)
void	stopTCPConnection ()
bool	UDPClientThread ()
Private Attributes
int	m_active_case_number
std::shared_ptr < sick::communication::AsyncTCPClient >	m_async_tcp_client_ptr
std::shared_ptr < sick::communication::AsyncUDPClient >	m_async_udp_client_ptr
std::string	m_device_name
std::shared_ptr < boost::asio::io_service >	m_io_service_ptr
std::shared_ptr < boost::asio::io_service::work >	m_io_work_ptr
packetReceivedCallbackFunction	m_newPacketReceivedCallbackFunction
std::shared_ptr < sick::data_processing::UDPPacketMerger >	m_packet_merger_ptr
std::shared_ptr < sick::cola2::Cola2Session >	m_session_ptr
boost::scoped_ptr< boost::thread >	m_udp_client_thread_ptr

Detailed Description

Class managing the algorithmic part of the package.

Definition at line 72 of file SickSafetyscanners.h.

Member Typedef Documentation

typedef boost::function<void(const sick::datastructure::Data&)> sick::SickSafetyscanners::packetReceivedCallbackFunction

Typedef for function which has to be passed to this class. This enables the use of functions from the calling class.

Definition at line 79 of file SickSafetyscanners.h.

Constructor & Destructor Documentation

sick::SickSafetyscanners::SickSafetyscanners	(	packetReceivedCallbackFunction	newPacketReceivedCallbackFunction,
		sick::datastructure::CommSettings *	settings
	)

Constructor of the SickSafetyscanners class.

Parameters:

newPacketReceivedCallbackFunction	Function from the calling class, which will be called when a new packet is received.
settings	Current settings for the sensor.

Definition at line 40 of file SickSafetyscanners.cpp.

sick::SickSafetyscanners::~SickSafetyscanners ( ) [virtual]

Destructor.

Definition at line 58 of file SickSafetyscanners.cpp.

Member Function Documentation

void sick::SickSafetyscanners::changeCommSettingsInColaSession ( const datastructure::CommSettings & settings ) [private]

Definition at line 165 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::changeSensorSettings ( const sick::datastructure::CommSettings & settings )

Changes the internal settings of the sensor.

Parameters:

settings New set of settings to pass to the sensor.

Definition at line 89 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::processTCPPacket ( const sick::datastructure::PacketBuffer & buffer ) [private]

Definition at line 84 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::processUDPPacket ( const datastructure::PacketBuffer & buffer ) [private]

Definition at line 272 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::requestDeviceName	(	const sick::datastructure::CommSettings &	settings,
		std::string &	device_name
	)

Requests the name of the device from the sensor.

Parameters:

settings	Settings containing information to establish a connection to the sensor.
device_name	Returned device name.

Definition at line 129 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::requestDeviceNameInColaSession ( std::string & device_name ) [private]

Definition at line 240 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::requestFieldData	(	const sick::datastructure::CommSettings &	settings,
		std::vector< sick::datastructure::FieldData > &	field_data
	)

Requests data of the protective and warning fields from the sensor.

Parameters:

settings	Settings containing information to establish a connection to the sensor.
field_data	Returned field data.

Definition at line 108 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::requestFieldDataInColaSession ( std::vector< sick::datastructure::FieldData > & fields ) [private]

Definition at line 173 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::requestMonitoringCaseDataInColaSession ( std::vector< sick::datastructure::MonitoringCaseData > & monitoring_cases ) [private]

Definition at line 218 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::requestMonitoringCases	(	const sick::datastructure::CommSettings &	settings,
		std::vector< sick::datastructure::MonitoringCaseData > &	monitoring_cases
	)

Requests the monitoring cases from the sensor.

Parameters:

settings	Settings containing information to establish a connection to the sensor.
monitoring_cases	Returned monitoring cases.

Definition at line 118 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::requestPersistentConfig	(	const datastructure::CommSettings &	settings,
		sick::datastructure::ConfigData &	config_data
	)

Requests the persistent configuration from the sensor.

Parameters:

settings	Settings containing information to establish a connection to the sensor.
config_data	Returned persistent configuration data.

Definition at line 139 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::requestPersistentConfigInColaSession ( sick::datastructure::ConfigData & config_data ) [private]

Definition at line 256 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::requestTypeCode	(	const sick::datastructure::CommSettings &	settings,
		sick::datastructure::TypeCode &	type_code
	)

Requests the typecode of the sensor.

Parameters:

settings	Settings containing information to establish a connection to the sensor.
type_code	Returned typecode.

Definition at line 98 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::requestTypeCodeInColaSession ( sick::datastructure::TypeCode & type_code ) [private]

Definition at line 249 of file SickSafetyscanners.cpp.

bool sick::SickSafetyscanners::run ( )

Start the connection to the sensor and enables output.

Returns:: If the setup was correct.

Definition at line 65 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::startTCPConnection ( const sick::datastructure::CommSettings & settings ) [private]

Definition at line 149 of file SickSafetyscanners.cpp.

void sick::SickSafetyscanners::stopTCPConnection ( ) [private]

Definition at line 265 of file SickSafetyscanners.cpp.

bool sick::SickSafetyscanners::UDPClientThread ( ) [private]

Definition at line 74 of file SickSafetyscanners.cpp.

Member Data Documentation

int sick::SickSafetyscanners::m_active_case_number [private]

Definition at line 166 of file SickSafetyscanners.h.

std::shared_ptr<sick::communication::AsyncTCPClient> sick::SickSafetyscanners::m_async_tcp_client_ptr [private]

Definition at line 158 of file SickSafetyscanners.h.

std::shared_ptr<sick::communication::AsyncUDPClient> sick::SickSafetyscanners::m_async_udp_client_ptr [private]

Definition at line 157 of file SickSafetyscanners.h.

std::string sick::SickSafetyscanners::m_device_name [private]

Definition at line 165 of file SickSafetyscanners.h.

std::shared_ptr<boost::asio::io_service> sick::SickSafetyscanners::m_io_service_ptr [private]

Definition at line 155 of file SickSafetyscanners.h.

std::shared_ptr<boost::asio::io_service::work> sick::SickSafetyscanners::m_io_work_ptr [private]

Definition at line 156 of file SickSafetyscanners.h.

packetReceivedCallbackFunction sick::SickSafetyscanners::m_newPacketReceivedCallbackFunction [private]

Definition at line 153 of file SickSafetyscanners.h.

std::shared_ptr<sick::data_processing::UDPPacketMerger> sick::SickSafetyscanners::m_packet_merger_ptr [private]

Definition at line 163 of file SickSafetyscanners.h.

std::shared_ptr<sick::cola2::Cola2Session> sick::SickSafetyscanners::m_session_ptr [private]

Definition at line 161 of file SickSafetyscanners.h.

boost::scoped_ptr<boost::thread> sick::SickSafetyscanners::m_udp_client_thread_ptr [private]

Definition at line 159 of file SickSafetyscanners.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation