#include <sick_tim_common_tcp.h>

Inheritance diagram for sick_tim::SickTimCommonTcp:

Public Member Functions
	SickTimCommonTcp (const std::string &hostname, const std::string &port, int &timelimit, AbstractParser *parser)

virtual	~SickTimCommonTcp ()

Public Member Functions inherited from sick_tim::SickTimCommon
void	check_angle_range (SickTimConfig &conf)

double	get_expected_frequency () const

virtual int	init ()

virtual int	loopOnce ()

virtual bool	rebootScanner ()
	Send a SOPAS command to the scanner that should cause a soft reset. More...

	SickTimCommon (AbstractParser *parser)

void	update_config (sick_tim::SickTimConfig &new_config, uint32_t level=0)

virtual	~SickTimCommon ()

Protected Member Functions
void	checkDeadline ()

virtual int	close_device ()

virtual int	get_datagram (unsigned char receiveBuffer, int bufferSize, int actual_length)
	Read a datagram from the device. More...

void	handleRead (boost::system::error_code error, size_t bytes_transfered)

virtual int	init_device ()

int	readWithTimeout (size_t timeout_ms, char buffer, int buffer_size, int bytes_read=0, bool *exception_occured=0)

virtual int	sendSOPASCommand (const char request, std::vector< unsigned char > reply)
	Send a SOPAS command to the device and print out the response to the console. More...

Protected Member Functions inherited from sick_tim::SickTimCommon
virtual int	init_scanner ()

bool	isCompatibleDevice (const std::string identStr) const

virtual int	stop_scanner ()

Private Attributes
size_t	bytes_transfered_

boost::asio::deadline_timer	deadline_

boost::system::error_code	ec_

std::string	hostname_

boost::asio::streambuf	input_buffer_

boost::asio::io_service	io_service_

std::string	port_

boost::asio::ip::tcp::socket	socket_

int	timelimit_

Additional Inherited Members
Static Protected Member Functions inherited from sick_tim::SickTimCommon
static std::string	replyToString (const std::vector< unsigned char > &reply)
	Converts reply from sendSOPASCommand to string. More...

Protected Attributes inherited from sick_tim::SickTimCommon
SickTimConfig	config_

ros::Publisher	datagram_pub_

diagnostic_updater::DiagnosedPublisher< sensor_msgs::LaserScan > *	diagnosticPub_

diagnostic_updater::Updater	diagnostics_

double	expectedFrequency_

bool	publish_datagram_

Detailed Description

Definition at line 48 of file sick_tim_common_tcp.h.

Constructor & Destructor Documentation

sick_tim::SickTimCommonTcp::SickTimCommonTcp	(	const std::string &	hostname,
		const std::string &	port,
		int &	timelimit,
		AbstractParser *	parser
	)

Definition at line 45 of file sick_tim_common_tcp.cpp.

sick_tim::SickTimCommonTcp::~SickTimCommonTcp ( )

virtual

Definition at line 61 of file sick_tim_common_tcp.cpp.

Member Function Documentation

void sick_tim::SickTimCommonTcp::checkDeadline ( )

protected

Definition at line 145 of file sick_tim_common_tcp.cpp.

int sick_tim::SickTimCommonTcp::close_device ( )

protectedvirtual

Implements sick_tim::SickTimCommon.

Definition at line 129 of file sick_tim_common_tcp.cpp.

int sick_tim::SickTimCommonTcp::get_datagram	(	unsigned char *	receiveBuffer,
		int	bufferSize,
		int *	actual_length
	)

protectedvirtual

Read a datagram from the device.

Parameters

[in]	receiveBuffer	data buffer to fill
[in]	bufferSize	max data size to write to buffer (result should be 0 terminated)
[out]	actual_length	the actual amount of data written

Implements sick_tim::SickTimCommon.

Definition at line 269 of file sick_tim_common_tcp.cpp.

void sick_tim::SickTimCommonTcp::handleRead	(	boost::system::error_code	error,
		size_t	bytes_transfered
	)

inlineprotected

Definition at line 87 of file sick_tim_common_tcp.h.

int sick_tim::SickTimCommonTcp::init_device ( )

protectedvirtual

Implements sick_tim::SickTimCommon.

Definition at line 71 of file sick_tim_common_tcp.cpp.

int sick_tim::SickTimCommonTcp::readWithTimeout	(	size_t	timeout_ms,
		char *	buffer,
		int	buffer_size,
		int *	bytes_read = `0`,
		bool *	exception_occured = `0`
	)

protected

Definition at line 159 of file sick_tim_common_tcp.cpp.

int sick_tim::SickTimCommonTcp::sendSOPASCommand	(	const char *	request,
		std::vector< unsigned char > *	reply
	)

protectedvirtual

Send a SOPAS command to the device and print out the response to the console.

Implements sick_tim::SickTimCommon.

Definition at line 227 of file sick_tim_common_tcp.cpp.

Member Data Documentation

size_t sick_tim::SickTimCommonTcp::bytes_transfered_

private

Definition at line 80 of file sick_tim_common_tcp.h.

boost::asio::deadline_timer sick_tim::SickTimCommonTcp::deadline_

private

Definition at line 77 of file sick_tim_common_tcp.h.

boost::system::error_code sick_tim::SickTimCommonTcp::ec_

private

Definition at line 79 of file sick_tim_common_tcp.h.

std::string sick_tim::SickTimCommonTcp::hostname_

private

Definition at line 82 of file sick_tim_common_tcp.h.

boost::asio::streambuf sick_tim::SickTimCommonTcp::input_buffer_

private

Definition at line 78 of file sick_tim_common_tcp.h.

boost::asio::io_service sick_tim::SickTimCommonTcp::io_service_

private

Definition at line 75 of file sick_tim_common_tcp.h.

std::string sick_tim::SickTimCommonTcp::port_

private

Definition at line 83 of file sick_tim_common_tcp.h.

boost::asio::ip::tcp::socket sick_tim::SickTimCommonTcp::socket_

private

Definition at line 76 of file sick_tim_common_tcp.h.

int sick_tim::SickTimCommonTcp::timelimit_

private

Definition at line 84 of file sick_tim_common_tcp.h.

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation