Cola2Session.h

Go to the documentation of this file.

// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------

// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef SICK_SAFETYSCANNERS_COLA2_COLA2SESSION_H
#define SICK_SAFETYSCANNERS_COLA2_COLA2SESSION_H

#include <sick_safetyscanners/datastructure/PacketBuffer.h>

#include <sick_safetyscanners/communication/AsyncTCPClient.h>

#include <sick_safetyscanners/cola2/CloseSession.h>
#include <sick_safetyscanners/cola2/Command.h>
#include <sick_safetyscanners/cola2/CreateSession.h>

#include <sick_safetyscanners/data_processing/ParseTCPPacket.h>
#include <sick_safetyscanners/data_processing/TCPPacketMerger.h>

#include <boost/bind.hpp>
#include <limits>
#include <map>

namespace sick {
namespace cola2 {

class Command;


class CreateSession;


class Cola2Session
{
public:
  typedef std::shared_ptr<sick::cola2::Command> CommandPtr;

  explicit Cola2Session(const std::shared_ptr<communication::AsyncTCPClient>& async_tcp_client);


  void doDisconnect();

  bool executeCommand(const CommandPtr& command);

  uint32_t getSessionID() const;

  void setSessionID(const uint32_t& session_id);

  uint16_t getNextRequestID();


  bool close();


  bool open();


private:
  std::shared_ptr<sick::communication::AsyncTCPClient> m_async_tcp_client_ptr;
  std::shared_ptr<sick::data_processing::ParseTCPPacket> m_parser_ptr;
  std::shared_ptr<sick::data_processing::TCPPacketMerger> m_packet_merger_ptr;
  std::shared_ptr<sick::data_processing::ParseTCPPacket> m_tcp_parser_ptr;

  std::map<uint16_t, CommandPtr> m_pending_commands_map;

  boost::mutex m_execution_mutex;

  uint32_t m_session_id;
  uint16_t m_last_request_id;

  void processPacket(const sick::datastructure::PacketBuffer& packet);

  bool addCommand(const uint16_t& request_id, const CommandPtr& command);
  bool findCommand(const uint16_t& request_id, CommandPtr& command);
  bool removeCommand(const uint16_t& request_id);

  bool
  startProcessingAndRemovePendingCommandAfterwards(const sick::datastructure::PacketBuffer& packet);
  bool addPacketToMerger(const sick::datastructure::PacketBuffer& packet);
  bool checkIfPacketIsCompleteAndOtherwiseListenForMorePackets();
  bool sendTelegramAndListenForAnswer(const CommandPtr& command);
};


} // namespace cola2
} // namespace sick

#endif // SICK_SAFETYSCANNERS_COLA2_COLA2SESSION_H