A class to represent all messages sent to and from the Sick LMS 2xx. More...

#include <SickLMS2xxMessage.hh>

Inheritance diagram for SickToolbox::SickLMS2xxMessage:

Public Member Functions
void	BuildMessage (uint8_t dest_address, const uint8_t *const payload_buffer, const unsigned int payload_length)
	Consructs a message object from given parameter values.
void	Clear ()
	Reset all internal fields and buffers associated with the object.
uint16_t	GetChecksum () const
uint8_t	GetCommandCode () const
uint8_t	GetDestAddress () const
uint8_t	GetStatusByte () const
void	ParseMessage (const uint8_t *const message_buffer)
	Parses a sequence of bytes into a well-formed message.
void	Print () const
	Print the message contents.
	SickLMS2xxMessage ()
	A default constructor.
	SickLMS2xxMessage (const uint8_t dest_address, const uint8_t *const payload_buffer, const unsigned int payload_length)
	A constructor for building a message from the given parameter values.
	SickLMS2xxMessage (uint8_t *const message_buffer)
	A constructor for parsing a byte sequence into a message object.
	~SickLMS2xxMessage ()
Protected Attributes
uint16_t	_checksum
Private Member Functions
uint16_t	_computeCRC (uint8_t *data, unsigned int data_length) const
	Computes the CRC16 of the given data buffer.

Detailed Description

A class to represent all messages sent to and from the Sick LMS 2xx.

This class helps to construct messages to be sent to the Sick. It also provides a container for received messages to be parsed into.

Definition at line 43 of file SickLMS2xxMessage.hh.

Constructor & Destructor Documentation

SickToolbox::SickLMS2xxMessage::SickLMS2xxMessage ( )

A default constructor.

Default constructor. Constructs an empty message (not well-formed!).

Definition at line 32 of file SickLMS2xxMessage.cc.

SickToolbox::SickLMS2xxMessage::SickLMS2xxMessage	(	const uint8_t	dest_address,
		const uint8_t *const	payload_buffer,
		const unsigned int	payload_length
	)

A constructor for building a message from the given parameter values.

Constructs a frame by using BuildMessage().

Parameters:

dest_address	The source address of the message
payload_buffer	The payload of the message as an array of bytes (including the command code)
payload_length	The length of the payload array in bytes

Definition at line 44 of file SickLMS2xxMessage.cc.

SickToolbox::SickLMS2xxMessage::SickLMS2xxMessage ( uint8_t *const message_buffer )

A constructor for parsing a byte sequence into a message object.

Constructs a frame using ParseMessage().

Parameters:

message_buffer A well-formed message to be parsed into the class' fields

Definition at line 55 of file SickLMS2xxMessage.cc.

SickToolbox::SickLMS2xxMessage::~SickLMS2xxMessage ( )

Destructor

Definition at line 179 of file SickLMS2xxMessage.cc.

Member Function Documentation

uint16_t SickToolbox::SickLMS2xxMessage::_computeCRC	(	uint8_t *	data,
		unsigned int	data_length
	)		const `[private]`

Computes the CRC16 of the given data buffer.

Computes the checksum of the frame.

Parameters:

data	An array of bytes whose checksum to compute
len	The length of the data array

Returns:: CRC16 computed over given data buffer

Definition at line 159 of file SickLMS2xxMessage.cc.

void SickToolbox::SickLMS2xxMessage::BuildMessage	(	uint8_t	dest_address,
		const uint8_t *const	payload_buffer,
		const unsigned int	payload_length
	)

Consructs a message object from given parameter values.

Constructs a well-formed raw frame from input fields.

Parameters:

dest_address	The destination address of the frame
*payload_buffer	The payload for the frame as an array of bytes (including the command code)
payload_length	The length of the payload array in bytes

Definition at line 68 of file SickLMS2xxMessage.cc.

void SickToolbox::SickLMS2xxMessage::Clear ( ) [virtual]

Reset all internal fields and buffers associated with the object.

Reset the data associated with this message (for initialization purposes)

Reimplemented from SickToolbox::SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >.

Definition at line 128 of file SickLMS2xxMessage.cc.

uint16_t SickToolbox::SickLMS2xxMessage::GetChecksum ( ) const [inline]

Gets the checksum for the message.

Definition at line 74 of file SickLMS2xxMessage.hh.

uint8_t SickToolbox::SickLMS2xxMessage::GetCommandCode ( ) const [inline]

Gets the command code associated with the message

Definition at line 68 of file SickLMS2xxMessage.hh.

uint8_t SickToolbox::SickLMS2xxMessage::GetDestAddress ( ) const [inline]

Gets the address of the frame.

Definition at line 65 of file SickLMS2xxMessage.hh.

uint8_t SickToolbox::SickLMS2xxMessage::GetStatusByte ( ) const [inline]

Gets the status byte from an LMS response message (NOTE: only applies to Sick LMS response telegrams!)

Definition at line 71 of file SickLMS2xxMessage.hh.

void SickToolbox::SickLMS2xxMessage::ParseMessage ( const uint8_t *const message_buffer ) [virtual]

Parses a sequence of bytes into a well-formed message.

Populates fields from a (well-formed) raw frame.

Parameters:

*message_buffer The buffer containing the source message

Implements SickToolbox::SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >.

Definition at line 100 of file SickLMS2xxMessage.cc.

void SickToolbox::SickLMS2xxMessage::Print ( ) const [virtual]

Print the message contents.

A debugging function that prints the contents of the message.

Reimplemented from SickToolbox::SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >.

Definition at line 141 of file SickLMS2xxMessage.cc.

Member Data Documentation

uint16_t SickToolbox::SickLMS2xxMessage::_checksum [protected]

The checksum (CRC16)

Definition at line 88 of file SickLMS2xxMessage.hh.

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

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation