A class to represent all messages sent to and from the Sick LD unit. More...

#include <SickLDMessage.hh>

Inheritance diagram for SickToolbox::SickLDMessage:

Public Member Functions
void	BuildMessage (const uint8_t *const payload_buffer, const unsigned int payload_length)
	Constructs a Sick LD message given parameter values. More...

uint8_t	GetChecksum () const

uint8_t	GetServiceCode () const

uint8_t	GetServiceSubcode () const

void	ParseMessage (const uint8_t *const message_buffer)
	Parses a sequence of bytes into a SickLDMessage object. More...

void	Print () const
	Print the message contents. More...

	SickLDMessage ()
	A default constructor. More...

	SickLDMessage (const uint8_t *const payload_buffer, const unsigned int payload_length)
	Another constructor. More...

	SickLDMessage (const uint8_t *const message_buffer)
	Another constructor. More...

	~SickLDMessage ()

Public Member Functions inherited from SickToolbox::SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >
void	BuildMessage (const uint8_t *const payload_buffer, const unsigned int payload_length)
	Constructs a Sick message given the parameter values. More...

virtual void	Clear ()
	Reset all internal fields and buffers. More...

void	GetMessage (uint8_t *const message_buffer) const
	Get the message as a sequence of well-formed bytes. More...

unsigned int	GetMessageLength () const

void	GetPayload (uint8_t *const payload_buffer) const
	Get the payload contents as a sequence of well-formed bytes. More...

void	GetPayloadAsCStr (char *const payload_str) const

unsigned int	GetPayloadLength () const

void	GetPayloadSubregion (uint8_t *const payload_sub_buffer, const unsigned int start_idx, const unsigned int stop_idx) const
	Get a specified sub-region of the payload buffer. More...

bool	IsPopulated () const

	SickMessage ()
	A default constructor. More...

virtual	~SickMessage ()
	A destructor. More...

Private Member Functions
uint8_t	_computeXOR (const uint8_t *const data, const uint32_t length)
	Compute the message checksum (single-byte XOR). More...

Additional Inherited Members
Static Public Attributes inherited from SickToolbox::SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >
static const unsigned int	MESSAGE_HEADER_LENGTH

static const unsigned int	MESSAGE_MAX_LENGTH

static const unsigned int	MESSAGE_PAYLOAD_MAX_LENGTH

static const unsigned int	MESSAGE_TRAILER_LENGTH

Protected Attributes inherited from SickToolbox::SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >
uint8_t	_message_buffer [MESSAGE_MAX_LENGTH]

unsigned int	_message_length

unsigned int	_payload_length

bool	_populated

Detailed Description

A class to represent all messages sent to and from the Sick LD unit.

Definition at line 35 of file SickLDMessage.hh.

Constructor & Destructor Documentation

SickToolbox::SickLDMessage::SickLDMessage ( )

A default constructor.

A standard constructor

Definition at line 33 of file SickLDMessage.cc.

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

Another constructor.

Constructs a packet by using BuildMessage

Parameters

*payload_buffer	The payload for the packet as an array of bytes (including the header)
payload_length	The length of the payload array in bytes

Definition at line 45 of file SickLDMessage.cc.

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

Another constructor.

Constructs a packet using ParseMessage()

Parameters

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

Definition at line 56 of file SickLDMessage.cc.

SickToolbox::SickLDMessage::~SickLDMessage ( )

Destructor

Definition at line 151 of file SickLDMessage.cc.

Member Function Documentation

uint8_t SickToolbox::SickLDMessage::_computeXOR	(	const uint8_t *const	data,
		const uint32_t	length
	)

private

Compute the message checksum (single-byte XOR).

Computes the checksum of the frame. NOTE: Uses XOR of single bytes over packet payload data.

Parameters

data	The address of the first data element in a sequence of bytes to be included in the sum
length	The number of byte in the data sequence

Definition at line 139 of file SickLDMessage.cc.

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

Constructs a Sick LD message given parameter values.

Construct a well-formed raw packet

Parameters

*payload_buffer	An address of the first byte to be copied into the message's payload
payload_length	The number of bytes to be copied into the message buffer

Definition at line 68 of file SickLDMessage.cc.

uint8_t SickToolbox::SickLDMessage::GetChecksum ( ) const

inline

Get the checksum for the packet

Definition at line 61 of file SickLDMessage.hh.

uint8_t SickToolbox::SickLDMessage::GetServiceCode ( ) const

inline

Get the length of the service code associated with the message

Definition at line 55 of file SickLDMessage.hh.

uint8_t SickToolbox::SickLDMessage::GetServiceSubcode ( ) const

inline

Get the service sub-code associated with the message

Definition at line 58 of file SickLDMessage.hh.

void SickToolbox::SickLDMessage::ParseMessage ( const uint8_t *const message_buffer )

virtual

Parses a sequence of bytes into a SickLDMessage object.

Populates fields from a (well-formed) raw packet

Parameters

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

Implements SickToolbox::SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >.

Definition at line 99 of file SickLDMessage.cc.

void SickToolbox::SickLDMessage::Print ( ) const

virtual

Print the message contents.

A debugging function that prints the contents of the frame.

Reimplemented from SickToolbox::SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >.

Definition at line 122 of file SickLDMessage.cc.

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

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation