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...

std::vector< uint8_t >	constructTelegram (const std::vector< uint8_t > &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 std::vector< uint8_t > &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 Member Functions
std::vector< uint8_t >	expandTelegram (const std::vector< uint8_t > &telegram, size_t additional_bytes) const

Protected Attributes
sick::cola2::Cola2Session &	m_session

Private Member Functions
virtual std::vector< uint8_t >	addTelegramData (const std::vector< uint8_t > &telegram) const =0

std::vector< uint8_t >	addTelegramHeader (const std::vector< uint8_t > &telegram) const

std::vector< uint8_t >	prepareHeader () const

virtual bool	processReply ()=0

void	writeCola2HubCntrToDataPtr (std::vector< uint8_t >::iterator data_ptr) const

void	writeCola2NoCToDataPtr (std::vector< uint8_t >::iterator data_ptr) const

void	writeCola2StxToDataPtr (std::vector< uint8_t >::iterator data_ptr) const

void	writeCommandModeToDataPtr (std::vector< uint8_t >::iterator data_ptr) const

void	writeCommandTypeToDataPtr (std::vector< uint8_t >::iterator data_ptr) const

void	writeDataToDataPtr (std::vector< uint8_t >::iterator data_ptr, const std::vector< uint8_t > &telegram) const

void	writeLengthToDataPtr (std::vector< uint8_t >::iterator data_ptr, const std::vector< uint8_t > &telegram) const

void	writeRequestIdToDataPtr (std::vector< uint8_t >::iterator data_ptr) const

void	writeSessionIdToDataPtr (std::vector< uint8_t >::iterator 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

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 std::vector<uint8_t> sick::cola2::Command::addTelegramData ( const std::vector< uint8_t > & telegram ) const

privatepure virtual

Implemented in sick::cola2::ChangeCommSettingsCommand, sick::cola2::FindMeCommand, sick::cola2::CloseSession, sick::cola2::CreateSession, sick::cola2::MethodCommand, and sick::cola2::VariableCommand.

std::vector< uint8_t > sick::cola2::Command::addTelegramHeader ( const std::vector< uint8_t > & telegram ) const

private

Definition at line 132 of file Command.cpp.

std::vector< uint8_t > sick::cola2::Command::constructTelegram ( const std::vector< uint8_t > & 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.

Returns: Completed telegram.

Definition at line 58 of file Command.cpp.

std::vector< uint8_t > sick::cola2::Command::expandTelegram	(	const std::vector< uint8_t > &	telegram,
		size_t	additional_bytes
	)		const

protected

Definition at line 121 of file Command.cpp.

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

Returns the command mode.

Returns: The command mode.

Definition at line 91 of file Command.cpp.

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

Returns the command type.

Returns: The command type.

Definition at line 81 of file Command.cpp.

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

Returns the data vector.

Returns: The data vector.

Definition at line 147 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 111 of file Command.cpp.

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

Returns the current session ID.

Returns: The current session ID.

Definition at line 101 of file Command.cpp.

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

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

Definition at line 53 of file Command.cpp.

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

private

Definition at line 142 of file Command.cpp.

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

privatepure virtual

void sick::cola2::Command::processReplyBase ( const std::vector< uint8_t > & 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 64 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 96 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 86 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 152 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 116 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 106 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 71 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 76 of file Command.cpp.

void sick::cola2::Command::writeCola2HubCntrToDataPtr ( std::vector< uint8_t >::iterator data_ptr ) const

private

Definition at line 183 of file Command.cpp.

void sick::cola2::Command::writeCola2NoCToDataPtr ( std::vector< uint8_t >::iterator data_ptr ) const

private

Definition at line 189 of file Command.cpp.

void sick::cola2::Command::writeCola2StxToDataPtr ( std::vector< uint8_t >::iterator data_ptr ) const

private

Definition at line 170 of file Command.cpp.

void sick::cola2::Command::writeCommandModeToDataPtr ( std::vector< uint8_t >::iterator data_ptr ) const

private

Definition at line 210 of file Command.cpp.

void sick::cola2::Command::writeCommandTypeToDataPtr ( std::vector< uint8_t >::iterator data_ptr ) const

private

Definition at line 205 of file Command.cpp.

void sick::cola2::Command::writeDataToDataPtr	(	std::vector< uint8_t >::iterator	data_ptr,
		const std::vector< uint8_t > &	telegram
	)		const

private

Definition at line 157 of file Command.cpp.

void sick::cola2::Command::writeLengthToDataPtr	(	std::vector< uint8_t >::iterator	data_ptr,
		const std::vector< uint8_t > &	telegram
	)		const

private

Definition at line 176 of file Command.cpp.

void sick::cola2::Command::writeRequestIdToDataPtr ( std::vector< uint8_t >::iterator data_ptr ) const

private

Definition at line 200 of file Command.cpp.

void sick::cola2::Command::writeSessionIdToDataPtr ( std::vector< uint8_t >::iterator data_ptr ) const

private

Definition at line 195 of file Command.cpp.

Member Data Documentation

uint8_t sick::cola2::Command::m_command_mode

private

Definition at line 204 of file Command.h.

uint8_t sick::cola2::Command::m_command_type

private

Definition at line 205 of file Command.h.

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

private

Definition at line 210 of file Command.h.

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

private

Definition at line 200 of file Command.h.

uint16_t sick::cola2::Command::m_request_id

private

Definition at line 208 of file Command.h.

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

protected

Definition at line 192 of file Command.h.

uint32_t sick::cola2::Command::m_session_id

private

Definition at line 207 of file Command.h.

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

private

Definition at line 198 of file Command.h.

bool sick::cola2::Command::m_was_successful

private

Definition at line 202 of file Command.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation