Establishes a cola2 session with a sensor and enables execution of commands in this session. More...

#include <Cola2Session.h>

Public Types
typedef std::shared_ptr< sick::cola2::Command >	CommandPtr
	Typedef for a pointer containing a command to be executed. More...

Public Member Functions
bool	close ()
	Closes a session with the sensor. Executes the close session command. More...

	Cola2Session (const std::shared_ptr< communication::AsyncTCPClient > &async_tcp_client)
	Constructor of the cola2 session. More...

void	doDisconnect ()
	Triggers the disconnection of the tcp socket. More...

bool	executeCommand (const CommandPtr &command)
	Executes the command passed to the function. More...

uint16_t	getNextRequestID ()
	Returns the next request ID. The request ID is used to match the return packages of the sensor to the right command. More...

uint32_t	getSessionID () const
	Returns the current session ID. More...

bool	open ()
	Opens a session with the sensor. Executes the create session command. More...

void	setSessionID (const uint32_t &session_id)
	Sets the current session ID. More...

Private Member Functions
bool	addCommand (const uint16_t &request_id, const CommandPtr &command)

bool	addPacketToMerger (const sick::datastructure::PacketBuffer &packet)

bool	checkIfPacketIsCompleteAndOtherwiseListenForMorePackets ()

bool	findCommand (const uint16_t &request_id, CommandPtr &command)

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

bool	removeCommand (const uint16_t &request_id)

bool	sendTelegramAndListenForAnswer (const CommandPtr &command)

bool	startProcessingAndRemovePendingCommandAfterwards (const sick::datastructure::PacketBuffer &packet)

Private Attributes
std::shared_ptr< sick::communication::AsyncTCPClient >	m_async_tcp_client_ptr

boost::mutex	m_execution_mutex

uint16_t	m_last_request_id

std::shared_ptr< sick::data_processing::TCPPacketMerger >	m_packet_merger_ptr

std::shared_ptr< sick::data_processing::ParseTCPPacket >	m_parser_ptr

std::map< uint16_t, CommandPtr >	m_pending_commands_map

uint32_t	m_session_id

std::shared_ptr< sick::data_processing::ParseTCPPacket >	m_tcp_parser_ptr

Detailed Description

Establishes a cola2 session with a sensor and enables execution of commands in this session.

Definition at line 72 of file Cola2Session.h.

Member Typedef Documentation

typedef std::shared_ptr<sick::cola2::Command> sick::cola2::Cola2Session::CommandPtr

Typedef for a pointer containing a command to be executed.

Definition at line 78 of file Cola2Session.h.

Constructor & Destructor Documentation

sick::cola2::Cola2Session::Cola2Session ( const std::shared_ptr< communication::AsyncTCPClient > & async_tcp_client )

explicit

Constructor of the cola2 session.

Parameters

async_tcp_client Pointer to an instance of a TCP-client. Will be used to establish a connection to the sensor.

Definition at line 40 of file Cola2Session.cpp.

Member Function Documentation

bool sick::cola2::Cola2Session::addCommand	(	const uint16_t &	request_id,
		const CommandPtr &	command
	)

private

Definition at line 138 of file Cola2Session.cpp.

bool sick::cola2::Cola2Session::addPacketToMerger ( const sick::datastructure::PacketBuffer & packet )

private

Definition at line 104 of file Cola2Session.cpp.

bool sick::cola2::Cola2Session::checkIfPacketIsCompleteAndOtherwiseListenForMorePackets ( )

private

Definition at line 114 of file Cola2Session.cpp.

bool sick::cola2::Cola2Session::close ( )

Closes a session with the sensor. Executes the close session command.

Returns: If closing the session was successful.

Definition at line 56 of file Cola2Session.cpp.

void sick::cola2::Cola2Session::doDisconnect ( )

Triggers the disconnection of the tcp socket.

Definition at line 62 of file Cola2Session.cpp.

bool sick::cola2::Cola2Session::executeCommand ( const CommandPtr & command )

Executes the command passed to the function.

Parameters

command The command to be executed.

Returns: If the execution was successful.

Definition at line 67 of file Cola2Session.cpp.

bool sick::cola2::Cola2Session::findCommand	(	const uint16_t &	request_id,
		CommandPtr &	command
	)

private

Definition at line 148 of file Cola2Session.cpp.

uint16_t sick::cola2::Cola2Session::getNextRequestID ( )

Returns the next request ID. The request ID is used to match the return packages of the sensor to the right command.

Returns: A new request ID.

Definition at line 169 of file Cola2Session.cpp.

uint32_t sick::cola2::Cola2Session::getSessionID ( ) const

Returns the current session ID.

Returns: The current session ID.

Definition at line 85 of file Cola2Session.cpp.

bool sick::cola2::Cola2Session::open ( )

Opens a session with the sensor. Executes the create session command.

Returns: If opening a session was successful.

Definition at line 50 of file Cola2Session.cpp.

void sick::cola2::Cola2Session::processPacket ( const sick::datastructure::PacketBuffer & packet )

private

Definition at line 95 of file Cola2Session.cpp.

bool sick::cola2::Cola2Session::removeCommand ( const uint16_t & request_id )

private

Definition at line 158 of file Cola2Session.cpp.

bool sick::cola2::Cola2Session::sendTelegramAndListenForAnswer ( const CommandPtr & command )

private

Definition at line 74 of file Cola2Session.cpp.

void sick::cola2::Cola2Session::setSessionID ( const uint32_t & session_id )

Sets the current session ID.

Parameters

session_id The new session ID.

Definition at line 90 of file Cola2Session.cpp.

bool sick::cola2::Cola2Session::startProcessingAndRemovePendingCommandAfterwards ( const sick::datastructure::PacketBuffer & packet )

private

Definition at line 125 of file Cola2Session.cpp.

Member Data Documentation

std::shared_ptr<sick::communication::AsyncTCPClient> sick::cola2::Cola2Session::m_async_tcp_client_ptr

private

Definition at line 143 of file Cola2Session.h.

boost::mutex sick::cola2::Cola2Session::m_execution_mutex

private

Definition at line 150 of file Cola2Session.h.

uint16_t sick::cola2::Cola2Session::m_last_request_id

private

Definition at line 153 of file Cola2Session.h.

std::shared_ptr<sick::data_processing::TCPPacketMerger> sick::cola2::Cola2Session::m_packet_merger_ptr

private

Definition at line 145 of file Cola2Session.h.

std::shared_ptr<sick::data_processing::ParseTCPPacket> sick::cola2::Cola2Session::m_parser_ptr

private

Definition at line 144 of file Cola2Session.h.

std::map<uint16_t, CommandPtr> sick::cola2::Cola2Session::m_pending_commands_map

private

Definition at line 148 of file Cola2Session.h.

uint32_t sick::cola2::Cola2Session::m_session_id

private

Definition at line 152 of file Cola2Session.h.

std::shared_ptr<sick::data_processing::ParseTCPPacket> sick::cola2::Cola2Session::m_tcp_parser_ptr

private

Definition at line 146 of file Cola2Session.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