Base class for commands. Defines the base interface and does the common tasks. More...

#include <Command.h>

Inheritance diagram for sick::cola2::Command:

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Public Member Functions
	Command (sick::cola2::Cola2Session &session, const uint16_t &command_type, const uint16_t &command_mode)
	Constructor of the command. Sets the common variables for a command to the sensor. More...

void	constructTelegram (sick::datastructure::PacketBuffer::VectorBuffer &telegram) const
	Adds the data to the telegram and afterwards the header with the correct length. More...

uint8_t	getCommandMode () const
	Returns the command mode. More...

uint8_t	getCommandType () const
	Returns the command type. More...

std::vector< uint8_t >	getDataVector () const
	Returns the data vector. More...

uint16_t	getRequestID () const
	Returns the request id of the command. More...

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

void	lockExecutionMutex ()
	Locks a mutex to prevent other commands being executed in parallel. More...

void	processReplyBase (const sick::datastructure::PacketBuffer::VectorBuffer &packet)
	Parses the da incoming data package and then processes it with the inherited processReply. Afterwards the mutex will be unlocked to allow new commands to be send. More...

void	setCommandMode (const uint8_t &command_mode)
	Sets the command mode. More...

void	setCommandType (const uint8_t &command_type)
	Sets the command type. More...

void	setDataVector (const std::vector< uint8_t > &data)
	Sets the data vector. More...

void	setRequestID (const uint16_t &request_id)
	Sets the request ID of the command. More...

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

void	waitForCompletion ()
	Scooped call to the mutex, which will block until the reply was processed. More...

bool	wasSuccessful () const
	Returns if the command was successfully parsed. More...

virtual	~Command ()
	We have virtual member functions, so a virtual destructor is needed. More...

Protected Attributes
sick::cola2::Cola2Session &	m_session

Private Member Functions
virtual void	addTelegramData (sick::datastructure::PacketBuffer::VectorBuffer &telegram) const =0

void	addTelegramHeader (sick::datastructure::PacketBuffer::VectorBuffer &telegram) const

sick::datastructure::PacketBuffer::VectorBuffer	prepareHeader () const

virtual bool	processReply ()=0

void	writeCola2HubCntrToDataPtr (uint8_t *&data_ptr) const

void	writeCola2NoCToDataPtr (uint8_t *&data_ptr) const

void	writeCola2StxToDataPtr (uint8_t *&data_ptr) const

void	writeCommandModeToDataPtr (uint8_t *&data_ptr) const

void	writeCommandTypeToDataPtr (uint8_t *&data_ptr) const

void	writeDataToDataPtr (uint8_t *&data_ptr, datastructure::PacketBuffer::VectorBuffer &telegram) const

void	writeLengthToDataPtr (uint8_t *&data_ptr, datastructure::PacketBuffer::VectorBuffer &telegram) const

void	writeRequestIdToDataPtr (uint8_t *&data_ptr) const

void	writeSessionIdToDataPtr (uint8_t *&data_ptr) const

Private Attributes
uint8_t	m_command_mode

uint8_t	m_command_type

std::vector< uint8_t >	m_data_vector

boost::mutex	m_execution_mutex

uint16_t	m_request_id

uint32_t	m_session_id

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

bool	m_was_successful

std::shared_ptr< sick::data_processing::ReadWriteHelper >	m_writer_ptr

Detailed Description

Base class for commands. Defines the base interface and does the common tasks.

Definition at line 61 of file Command.h.

Constructor & Destructor Documentation

sick::cola2::Command::Command	(	sick::cola2::Cola2Session &	session,
		const uint16_t &	command_type,
		const uint16_t &	command_mode
	)

Constructor of the command. Sets the common variables for a command to the sensor.

Parameters

session	The session in which the command will be executed.
command_type	Defines what type of command will be executed in the sensor (Read, Write, Invoking a method).
command_mode	Specifies the mode of the command. If the request is by index or name.

Definition at line 43 of file Command.cpp.

virtual sick::cola2::Command::~Command ( )

inlinevirtual

We have virtual member functions, so a virtual destructor is needed.

Definition at line 79 of file Command.h.

Member Function Documentation

virtual void sick::cola2::Command::addTelegramData ( sick::datastructure::PacketBuffer::VectorBuffer & telegram ) const

privatepure virtual

void sick::cola2::Command::addTelegramHeader ( sick::datastructure::PacketBuffer::VectorBuffer & telegram ) const

private

Definition at line 122 of file Command.cpp.

void sick::cola2::Command::constructTelegram ( sick::datastructure::PacketBuffer::VectorBuffer & telegram ) const

Adds the data to the telegram and afterwards the header with the correct length.

Parameters

telegram The telegram, which will be modified with the data and header.

Definition at line 59 of file Command.cpp.

uint8_t sick::cola2::Command::getCommandMode ( ) const

Returns the command mode.

Returns: The command mode.

Definition at line 92 of file Command.cpp.

uint8_t sick::cola2::Command::getCommandType ( ) const

Returns the command type.

Returns: The command type.

Definition at line 82 of file Command.cpp.

std::vector< uint8_t > sick::cola2::Command::getDataVector ( ) const

Returns the data vector.

Returns: The data vector.

Definition at line 137 of file Command.cpp.

uint16_t sick::cola2::Command::getRequestID ( ) const

Returns the request id of the command.

Returns: The request id.

Definition at line 112 of file Command.cpp.

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

Returns the current session ID.

Returns: The current session ID.

Definition at line 102 of file Command.cpp.

void sick::cola2::Command::lockExecutionMutex ( )

Locks a mutex to prevent other commands being executed in parallel.

Definition at line 54 of file Command.cpp.

sick::datastructure::PacketBuffer::VectorBuffer sick::cola2::Command::prepareHeader ( ) const

private

Definition at line 130 of file Command.cpp.

virtual bool sick::cola2::Command::processReply ( )

privatepure virtual

void sick::cola2::Command::processReplyBase ( const sick::datastructure::PacketBuffer::VectorBuffer & packet )

Parses the da incoming data package and then processes it with the inherited processReply. Afterwards the mutex will be unlocked to allow new commands to be send.

Parameters

packet The incoming data package which will be processed.

Definition at line 65 of file Command.cpp.

void sick::cola2::Command::setCommandMode ( const uint8_t & command_mode )

Sets the command mode.

Parameters

command_mode The new command mode.

Definition at line 97 of file Command.cpp.

void sick::cola2::Command::setCommandType ( const uint8_t & command_type )

Sets the command type.

Parameters

command_type The new command type.

Definition at line 87 of file Command.cpp.

void sick::cola2::Command::setDataVector ( const std::vector< uint8_t > & data )

Sets the data vector.

Parameters

data	The new data vector.

Definition at line 142 of file Command.cpp.

void sick::cola2::Command::setRequestID ( const uint16_t & request_id )

Sets the request ID of the command.

Parameters

request_id The new request id.

Definition at line 117 of file Command.cpp.

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

Sets the session ID.

Parameters

session_id The new session ID.

Definition at line 107 of file Command.cpp.

void sick::cola2::Command::waitForCompletion ( )

Scooped call to the mutex, which will block until the reply was processed.

Definition at line 72 of file Command.cpp.

bool sick::cola2::Command::wasSuccessful ( ) const

Returns if the command was successfully parsed.

Returns: If the command was successfully parsed.

Definition at line 77 of file Command.cpp.

void sick::cola2::Command::writeCola2HubCntrToDataPtr ( uint8_t *& data_ptr ) const

private

Definition at line 173 of file Command.cpp.

void sick::cola2::Command::writeCola2NoCToDataPtr ( uint8_t *& data_ptr ) const

private

Definition at line 179 of file Command.cpp.

void sick::cola2::Command::writeCola2StxToDataPtr ( uint8_t *& data_ptr ) const

private

Definition at line 160 of file Command.cpp.

void sick::cola2::Command::writeCommandModeToDataPtr ( uint8_t *& data_ptr ) const

private

Definition at line 200 of file Command.cpp.

void sick::cola2::Command::writeCommandTypeToDataPtr ( uint8_t *& data_ptr ) const

private

Definition at line 195 of file Command.cpp.

void sick::cola2::Command::writeDataToDataPtr	(	uint8_t *&	data_ptr,
		datastructure::PacketBuffer::VectorBuffer &	telegram
	)		const

private

Definition at line 147 of file Command.cpp.

void sick::cola2::Command::writeLengthToDataPtr	(	uint8_t *&	data_ptr,
		datastructure::PacketBuffer::VectorBuffer &	telegram
	)		const

private

Definition at line 166 of file Command.cpp.

void sick::cola2::Command::writeRequestIdToDataPtr ( uint8_t *& data_ptr ) const

private

Definition at line 190 of file Command.cpp.

void sick::cola2::Command::writeSessionIdToDataPtr ( uint8_t *& data_ptr ) const

private

Definition at line 185 of file Command.cpp.

Member Data Documentation

uint8_t sick::cola2::Command::m_command_mode

private

Definition at line 201 of file Command.h.

uint8_t sick::cola2::Command::m_command_type

private

Definition at line 202 of file Command.h.

std::vector<uint8_t> sick::cola2::Command::m_data_vector

private

Definition at line 207 of file Command.h.

boost::mutex sick::cola2::Command::m_execution_mutex

private

Definition at line 197 of file Command.h.

uint16_t sick::cola2::Command::m_request_id

private

Definition at line 205 of file Command.h.

sick::cola2::Cola2Session& sick::cola2::Command::m_session

protected

Definition at line 191 of file Command.h.

uint32_t sick::cola2::Command::m_session_id

private

Definition at line 204 of file Command.h.

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

private

Definition at line 194 of file Command.h.

bool sick::cola2::Command::m_was_successful

private

Definition at line 199 of file Command.h.

std::shared_ptr<sick::data_processing::ReadWriteHelper> sick::cola2::Command::m_writer_ptr

private

Definition at line 195 of file Command.h.

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

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation