Class SopasBase

Defined in File SopasBase.hpp

Class Documentation

class SopasBase

Class SopasBase encapsuls the communication to a sensor via SopasProtocol. It offers the functions:

invokeMethode
readVariable
writeVariable
(un)registerEvent

Callback functions are used to inform you about incoming events (scans or eval cases).

Public Types

enum SopasProtocol

Values:

enumerator CoLa_A: Command Language ASCI.

enumerator CoLa_B: Command Language binary.

enum SopasEncoding

Values:

enumerator ByName: read/write variable, invoke methods by name

enumerator ByIndex: read/write variable, invoke methods by index (indexes will be generated !!!)

enum SopasMessageType

types of answers of the sensor

Values:

enumerator MSG_UNKNOWN: Unknown message.

enumerator MSG_SEND_EVENT: Send Event.

enumerator MSG_READ_VARIABLE_ANSWER: Read Variable Answer.

enumerator MSG_WRITE_VARIABLE_ANSWER: Write Variable Answer.

enumerator MSG_INVOKE_METHOD_ANSWER: Invoke Method Answer.

enumerator MSG_METHOD_RESULT_ANSWER: Method Result Answer.

enumerator MSG_REGISTER_EVENT_ANSWER: Register Event Answer.

enumerator MSG_EVENT_ACKNOWLEDGE: Event Acknowledge -Answer to register event.

enumerator MSG_ERROR: Error.

typedef void (*DecoderFunction)(SopasEventMessage &frame)

Public Functions

SopasBase(): Default constructor.

virtual ~SopasBase(): Destructor.

virtual bool init(SopasProtocol protocol, std::string ipAddress, UINT16 portNumber, bool weWantScanData, bool weWantFieldData, bool readOnlyMode, Tcp::DisconnectFunction disconnectFunction, void *obj)

Initialization.

Parameters:

protocol –
ipAddress – IP-address of the Scanner
portNumber – port for SOPAS comunication
weWantScanData –
weWantFieldData –
readOnlyMode –
disconnectFunction – Function to be called on disconnect events.
obj – = pointer to the object that holds the disconnectFunction

Returns:

bool connect(): Connects to a sensor via tcp and reads the device name.

bool isConnected(): Returns true if the tcp connection is established.

bool disconnect()

Closes the connection to the LMS. This is the opposite of init().

Switches this device from the CONNECTED state back in the CONSTRUCTED state.

Returns:: True if the device is now in the CONSTRUCTED state

bool action_getScannerTypeAndVersion()

Reads the scanner type and version variable from the sensor and stores it in the member variables. This is done always by name.

Returns:: true if no errors occurred.

void setReadOnlyMode(bool mode)

bool isReadOnly()

bool invokeMethod(const std::string &methodeName, BYTE *parameters, UINT16 parametersLength, SopasAnswer *&answer)

Invoke a method on the sensor.

Parameters:

methodeName – name of the method to call
parameters – byte buffer with parameter (NOTE: you have to fill this buffer with the correct protocol - cola-a or cola-b)
parametersLength – length of the byte buffer
answer – pointer to an answer message (NOTE: memory for this object will be allocated - free this after usage !!!)

Returns:

true if no errors occurred.

bool invokeMethod(UINT16 index, BYTE *parameters, UINT16 parametersLength, SopasAnswer *&answer)

Invoke a method on the sensor.

Parameters:

index – index of the method to call
parameters – byte buffer with parameter (NOTE: you have to fill this buffer with the correct protocol - cola-a or cola-b)
parametersLength – length of the byte buffer
answer – pointer to an answer message (NOTE: memory for this object will be allocated - free this after usage !!!)

Returns:

true if no errors occurred.

bool readVariable(const std::string &variableName, SopasAnswer *&answer)

Reads a variable from the sensor by name.

Parameters:

variableName – name of the variable
answer – pointer to an answer message (NOTE: memory for this object will be allocated - free this after usage !!!)

Returns:

true if no errors occurred.

bool readVariable(UINT16 index, SopasAnswer *&answer)

Reads a variable from the sensor by index.

Parameters:

index – of the variable
answer –

Returns:

true if no errors occurred.

bool writeVariable(const std::string &variableName, BYTE *parameters, UINT16 parametersLength)

Write a variable to the sensor by name.

Parameters:

variableName – name of the variable.
parameters – byte buffer with parameter (NOTE: you have to fill this buffer with the correct protocol - cola-a or cola-b)
parametersLength – length of the byte buffer

Returns:

true if no errors occurred.

bool writeVariable(UINT16 index, BYTE *parameters, UINT16 parametersLength)

Write a variable to the sensor by index.

Parameters:

index – of the variable
parameters – byte buffer with parameter (NOTE: you have to fill this buffer with the correct protocol - cola-a or cola-b)
parametersLength – length of the byte buffer

Returns:

true if no errors occurred.

bool registerEvent(const std::string &eventName)

Registers an event by name.

Parameters:: eventName – name of the event
Returns:: true if no errors occurred.

bool registerEvent(UINT16 index)

Registers an event by index.

Parameters:: index – of the event.
Returns:: true if no errors occurred.

bool unregisterEvent(const std::string &eventName)

Unregisters an event by name.

Parameters:: eventName – name of the event
Returns:: true if no errors occurred.

bool unregisterEvent(UINT16 index)

Unregisters an event by index.

Parameters:: index – of the event
Returns:: true if no errors occurred.

inline void setEventCallbackFunction(DecoderFunction decoderFunction, const std::string &eventName)

Parameters:

decoderFunction –
eventName –

inline void setEventCallbackFunction(DecoderFunction decoderFunction, UINT16 eventIndex)

Parameters:

decoderFunction –
eventIndex –

double makeAngleValid(double angle)

inline const std::string &getScannerName() const

inline const std::string &getScannerVersion() const

uint64_t getNanosecTimestampLastTcpMessageReceived(void)

Public Static Functions

static std::string convertSopasErrorCodeToText(UINT16 errorCode)

Public Static Attributes

static const std::string EVENTNAME_SUBSCRIBE_EVALCASES

static const std::string EVENTNAME_SUBSCRIBE_SCANS

static const std::string METHODNAME_LOGIN

static const std::string METHODNAME_LOGOUT

static const std::string METHODNAME_SET_SCANCONFIG

static const std::string METHODNAME_START_MEASURE

static const std::string METHODNAME_STOP_MEASURE

static const std::string VARIABLENAME_DEVICEIDENT

static const std::string VARIABLENAME_SCANCONFIG

static const std::string VARIABLENAME_DATAOUTPUTRANGE

static const std::string VARIABLENAME_SCANDATACONFIG

static const std::string COMMAND_Read_Variable_ByIndex

static const std::string COMMAND_Write_Variable_ByIndex

static const std::string COMMAND_Invoke_Method_ByIndex

static const std::string COMMAND_Method_Result_ByIndex

static const std::string COMMAND_Register_Event_ByIndex

static const std::string COMMAND_Send_Event_ByIndex

static const std::string COMMAND_Read_Variable_Answer

static const std::string COMMAND_Write_Variable_Answer

static const std::string COMMAND_Invoke_Method_Answer

static const std::string COMMAND_Method_Result_Answer

static const std::string COMMAND_Register_Event_Answer

static const std::string COMMAND_Event_Acknowledge

static const std::string COMMAND_Read_Variable_ByName

static const std::string COMMAND_Write_Variable_ByName

static const std::string COMMAND_Invoke_Method_ByName

static const std::string COMMAND_Method_Result_ByName

static const std::string COMMAND_Register_Event_ByName

static const std::string COMMAND_Send_Event_ByName

static const UINT16 INDEX_DEVICE_IDENT

Protected Types

enum SopasCommand

Values:

enumerator CMD_UNKNOWN: Unknown command.

enumerator RI: Read Variable.

enumerator WI: Write Variable.

enumerator MI: Invoke Method.

enumerator AI: Method Result.

enumerator EI: Register Event.

enumerator SI: Send Event.

enumerator RA: Read Variable Answer.

enumerator WA: Write Variable Answer.

enumerator MA: Invoke Method Answer.

enumerator AA: Method Result Answer.

enumerator EA: Register Event Answer.

enumerator SA: Event Acknowledge.

enumerator RN: Read Variable (by name)

enumerator AN: Method Result (ny name)

enumerator SN: Send Event (by name, receive)

enumerator FA: Error.

enum State

Values:

enumerator CONSTRUCTED

Object has been constructed. Use init() to go into CONNECTED state.

Object is now connected. Use run() to go into RUNNING state, or disconnect() to go back into CONSTRUCTED state.

enumerator CONNECTED: Object is connected and emitting data. Use stop() to go back into CONNECTED, or disconnect() to go back into CONSTRUCTED state.

Protected Functions

bool receiveAnswer(SopasCommand cmd, std::string name, UINT32 timeout, SopasAnswer *&answer)

Take answer from read thread and decode it. Waits for a certain answer by name. Event data (scans) are filtered and processed by read thread.

Parameters:

cmd – Waits for the answer to this command.
name – name of the method/variable.
timeout – in [ms]
answer – Pointer to answer. Will be filled if answer contains parameter.

Returns:

true if no error occurred.

bool receiveAnswer_CoLa_A(SopasCommand cmd, std::string name, UINT32 timeout, SopasAnswer *&answer)

bool receiveAnswer_CoLa_B(SopasCommand cmd, std::string name, UINT32 timeout, SopasAnswer *&answer)

bool receiveAnswer(SopasCommand cmd, UINT16 index, UINT32 timeout, SopasAnswer *&answer)

bool receiveAnswer_CoLa_A(SopasCommand cmd, UINT16 index, UINT32 timeout, SopasAnswer *&answer)

bool receiveAnswer_CoLa_B(SopasCommand cmd, UINT16 index, UINT32 timeout, SopasAnswer *&answer)

bool sendCommandBuffer(UINT8 *buffer, UINT16 len)

Sends the content of the buffer via TCP to the sensor.

Parameters:

buffer – pointer to the buffer
len – length of buffer to be sent.

SopasCommand colaA_decodeCommand(std::string *rxData)

SopasCommand stringToSopasCommand(const std::string &cmdString): Converts strings in sopas answer buffer to SopasCommand enum.

std::string sopasCommandToString(SopasCommand cmd)

virtual void evalCaseResultDecoder(SopasEventMessage &msg) = 0

virtual void scanDataDecoder(SopasEventMessage &msg) = 0

Protected Attributes

bool m_scanEventIsRegistered

bool m_fieldEventIsRegistered

bool m_weWantScanData: Flag to enable/disable scan data reception.

bool m_weWantFieldData: Flag to enable/disable protection field data reception.

State m_state: Device info.

std::string m_scannerName: Read from scanner.

std::string m_scannerVersion: Read from scanner.

bool m_beVerbose

bool m_isLoggedIn