sick_scan_common_tcp.h

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/*
 * Copyright (C) 2013, Freiburg University
 * 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 Osnabrück University 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.
 *
 *  Created on: 15.11.2013
 *
 *      Authors:
 *         Christian Dornhege <c.dornhege@googlemail.com>
 */

#ifndef SICK_TIM3XX_COMMON_TCP_H
#define SICK_TIM3XX_COMMON_TCP_H

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <boost/asio.hpp>

#undef NOMINMAX // to get rid off warning C4005: "NOMINMAX": Makro-Neudefinition

#include "sick_scan_common.h"
#include "sick_generic_parser.h"
#include "template_queue.h"
namespace sick_scan
{
/* class prepared for optimized time stamping */

class DatagramWithTimeStamp
{
public:
                DatagramWithTimeStamp(ros::Time timeStamp_, std::vector<unsigned char> datagram_)
                {
       timeStamp = timeStamp_;
                         datagram = datagram_;
                }
// private:
          ros::Time timeStamp;
                std::vector<unsigned char> datagram;
};


class SickScanCommonTcp : public SickScanCommon
    {
public:
    static void disconnectFunctionS(void *obj);

    SickScanCommonTcp(const std::string &hostname, const std::string &port, int &timelimit, SickGenericParser *parser, char cola_dialect_id);

    virtual ~SickScanCommonTcp();

    static void readCallbackFunctionS(void *obj, UINT8 *buffer, UINT32 &numOfBytes);

    void readCallbackFunction(UINT8 *buffer, UINT32 &numOfBytes);

    void setReplyMode(int _mode);

    int getReplyMode();

                void setEmulSensor(bool _emulFlag);

                bool getEmulSensor();

                bool stopScanData();

                int numberOfDatagramInInputFifo();
        SopasEventMessage findFrameInReceiveBuffer();
        void processFrame(ros::Time timeStamp, SopasEventMessage& frame);
        // Queue<std::vector<unsigned char> > recvQueue;
    Queue<DatagramWithTimeStamp> recvQueue;
    UINT32 m_alreadyReceivedBytes;
    UINT32 m_lastPacketSize;
    UINT8  m_packetBuffer[480000];
    protected:
        void disconnectFunction();

                void readCallbackFunctionOld(UINT8* buffer, UINT32& numOfBytes);
                virtual int init_device();

        virtual int close_device();

        virtual int sendSOPASCommand(const char *request, std::vector<unsigned char> *reply, int cmdLen);


        virtual int
        get_datagram(ros::Time &recvTimeStamp, unsigned char *receiveBuffer, int bufferSize, int *actual_length,
                     bool isBinaryProtocol, int *numberOfRemainingFifoEntries);

        // Helpers for boost asio
        int readWithTimeout(size_t timeout_ms, char *buffer, int buffer_size, int *bytes_read = 0,
                            bool *exception_occured = 0, bool isBinary = false);

        void handleRead(boost::system::error_code error, size_t bytes_transfered);

        void checkDeadline();

    private:



                // Response buffer
                UINT32 m_numberOfBytesInResponseBuffer; 
                UINT8 m_responseBuffer[1024]; 
                Mutex m_receiveDataMutex; 

                                                                  // Receive buffer
                UINT32 m_numberOfBytesInReceiveBuffer; 
                UINT8 m_receiveBuffer[480000]; 

                bool m_beVerbose;
                                bool m_emulSensor;

        boost::asio::io_service io_service_;
        boost::asio::ip::tcp::socket socket_;
        boost::asio::deadline_timer deadline_;
        boost::asio::streambuf input_buffer_;
        boost::system::error_code ec_;
        size_t bytes_transfered_;

        std::string hostname_;
        std::string port_;
        int timelimit_;
        int m_replyMode;
};


} /* namespace sick_scan */
#endif /* SICK_TIM3XX_COMMON_TCP_H */