SickScanCommonNw Class Reference

Interface for TCP/IP. More...

#include <sick_scan_common_nw.h>

Public Member Functions
bool	connect ()
	Connects to a sensor via tcp and reads the device name. More...
bool	disconnect ()
	Closes the connection to the LMS. This is the opposite of init(). More...
uint64_t	getNanosecTimestampLastTcpMessageReceived (void)
bool	init (std::string ipAddress, unsigned short portNumber, Tcp::DisconnectFunction disconnectFunction, void *obj)
bool	isConnected ()
	Returns true if the tcp connection is established. More...
bool	sendCommandBuffer (UINT8 *buffer, UINT16 len)
bool	setReadCallbackFunction (Tcp::ReadFunction readFunction, void *obj)
	SickScanCommonNw ()
	~SickScanCommonNw ()

Protected Types
enum	State { CONSTRUCTED, CONNECTED }

Protected Attributes
State	m_state

Private Member Functions
void	closeTcpConnection ()
void	copyFrameToResposeBuffer (UINT32 frameLength)
SopasEventMessage	findFrameInReceiveBuffer ()
bool	openTcpConnection ()
void	processFrame (SopasEventMessage &frame)
void	readCallbackFunction (UINT8 *buffer, UINT32 &numOfBytes)
void	removeFrameFromReceiveBuffer (UINT32 frameLength)

Static Private Member Functions
static void	readCallbackFunctionS (void *obj, UINT8 *buffer, UINT32 &numOfBytes)
	Function that will be called on incomming data via tcp. More...

Private Attributes
bool	m_beVerbose
std::string	m_ipAddress
UINT32	m_numberOfBytesInReceiveBuffer
	Number of bytes in buffer. More...
UINT32	m_numberOfBytesInResponseBuffer
	Number of bytes in buffer. More...
UINT16	m_portNumber
SopasProtocol	m_protocol
UINT8	m_receiveBuffer [25000]
	Low-Level receive buffer for all data (25000 should be enough for NAV300 Events) More...
Mutex	m_receiveDataMutex
	Access mutex for buffer. More...
UINT8	m_responseBuffer [1024]
	Receive buffer for everything except scan data and eval case data. More...
Tcp	m_tcp

Detailed Description

Interface for TCP/IP.

This class provides an interface for TCP/IP communication. It also contains simple methods for accessing the essential contents of the SOPAS message (for example, determining the payload and the SOPAS command used). It based on an example of SICK AG.

Doxygen example: http://www-numi.fnal.gov/offline_software/srt_public_context/WebDocs/doxygen-howto.html

Definition at line 39 of file sick_scan_common_nw.h.

Member Enumeration Documentation

State

enum SickScanCommonNw::State

protected

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

Definition at line 117 of file sick_scan_common_nw.h.

Constructor & Destructor Documentation

SickScanCommonNw()

SickScanCommonNw::SickScanCommonNw

(

)

Definition at line 81 of file sick_scan_common_nw.cpp.

~SickScanCommonNw()

SickScanCommonNw::~SickScanCommonNw

(

)

Definition at line 88 of file sick_scan_common_nw.cpp.

Member Function Documentation

closeTcpConnection()

void SickScanCommonNw::closeTcpConnection ( )

private

Definition at line 207 of file sick_scan_common_nw.cpp.

connect()

bool SickScanCommonNw::connect

(

)

Connects to a sensor via tcp and reads the device name.

Definition at line 142 of file sick_scan_common_nw.cpp.

copyFrameToResposeBuffer()

void SickScanCommonNw::copyFrameToResposeBuffer ( UINT32  frameLength )

private

Definition at line 515 of file sick_scan_common_nw.cpp.

disconnect()

bool SickScanCommonNw::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

Definition at line 102 of file sick_scan_common_nw.cpp.

findFrameInReceiveBuffer()

SopasEventMessage SickScanCommonNw::findFrameInReceiveBuffer ( )

private

Definition at line 302 of file sick_scan_common_nw.cpp.

getNanosecTimestampLastTcpMessageReceived()

uint64_t SickScanCommonNw::getNanosecTimestampLastTcpMessageReceived

(

void

)

Returns a timestamp in nanoseconds of the last received tcp message (or 0 if no message received)

Definition at line 199 of file sick_scan_common_nw.cpp.

init()

bool SickScanCommonNw::init	(	std::string	ipAddress,
		unsigned short	portNumber,
		Tcp::DisconnectFunction	disconnectFunction,
		void *	obj
	)

Definition at line 116 of file sick_scan_common_nw.cpp.

isConnected()

bool SickScanCommonNw::isConnected

(

)

Returns true if the tcp connection is established.

Definition at line 171 of file sick_scan_common_nw.cpp.

openTcpConnection()

bool SickScanCommonNw::openTcpConnection ( )

private

Open TCP-connection to endpoint (usually IP-address and port)

true = Connected, false = no connection

Definition at line 182 of file sick_scan_common_nw.cpp.

processFrame()

void SickScanCommonNw::processFrame ( SopasEventMessage &  frame )

private

Reads one frame from receive buffer and decodes it. Switches directly to the decoder of the protocol.

Definition at line 490 of file sick_scan_common_nw.cpp.

readCallbackFunction()

void SickScanCommonNw::readCallbackFunction ( UINT8 *  buffer, UINT32 &  numOfBytes  )

private

Read callback. Diese Funktion wird aufgerufen, sobald Daten auf der Schnittstelle hereingekommen sind.

Definition at line 228 of file sick_scan_common_nw.cpp.

readCallbackFunctionS()

void SickScanCommonNw::readCallbackFunctionS ( void *  obj, UINT8 *  buffer, UINT32 &  numOfBytes  )

staticprivate

Function that will be called on incomming data via tcp.

Definition at line 218 of file sick_scan_common_nw.cpp.

removeFrameFromReceiveBuffer()

void SickScanCommonNw::removeFrameFromReceiveBuffer ( UINT32  frameLength )

private

Definition at line 540 of file sick_scan_common_nw.cpp.

sendCommandBuffer()

bool SickScanCommonNw::sendCommandBuffer	(	UINT8 *	buffer,
		UINT16	len
	)

Send contents of buffer to scanner using according framing.

Send buffer is limited to 1024 byte!

Definition at line 479 of file sick_scan_common_nw.cpp.

setReadCallbackFunction()

bool SickScanCommonNw::setReadCallbackFunction	(	Tcp::ReadFunction	readFunction,
		void *	obj
	)

Definition at line 128 of file sick_scan_common_nw.cpp.

Member Data Documentation

m_beVerbose

bool SickScanCommonNw::m_beVerbose

private

Definition at line 91 of file sick_scan_common_nw.h.

m_ipAddress

std::string SickScanCommonNw::m_ipAddress

private

Definition at line 107 of file sick_scan_common_nw.h.

m_numberOfBytesInReceiveBuffer

UINT32 SickScanCommonNw::m_numberOfBytesInReceiveBuffer

private

Number of bytes in buffer.

Definition at line 100 of file sick_scan_common_nw.h.

m_numberOfBytesInResponseBuffer

UINT32 SickScanCommonNw::m_numberOfBytesInResponseBuffer

private

Number of bytes in buffer.

Definition at line 95 of file sick_scan_common_nw.h.

m_portNumber

UINT16 SickScanCommonNw::m_portNumber

private

Definition at line 108 of file sick_scan_common_nw.h.

m_protocol

SopasProtocol SickScanCommonNw::m_protocol

private

Definition at line 109 of file sick_scan_common_nw.h.

m_receiveBuffer

UINT8 SickScanCommonNw::m_receiveBuffer[25000]

private

Low-Level receive buffer for all data (25000 should be enough for NAV300 Events)

Definition at line 101 of file sick_scan_common_nw.h.

m_receiveDataMutex

Mutex SickScanCommonNw::m_receiveDataMutex

private

Access mutex for buffer.

Definition at line 97 of file sick_scan_common_nw.h.

m_responseBuffer

UINT8 SickScanCommonNw::m_responseBuffer[1024]

private

Receive buffer for everything except scan data and eval case data.

Definition at line 96 of file sick_scan_common_nw.h.

m_state

State SickScanCommonNw::m_state

protected

Definition at line 130 of file sick_scan_common_nw.h.

m_tcp

Tcp SickScanCommonNw::m_tcp

private

Definition at line 106 of file sick_scan_common_nw.h.

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

• sick_scan_common_nw.h
• sick_scan_common_nw.cpp