Cola2Session.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
 
// -- BEGIN LICENSE BLOCK ----------------------------------------------
 
// -- END LICENSE BLOCK ------------------------------------------------
 
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#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_command_map_mutex;
  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