sick_scan_common_tcp.h

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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
 * Copyright (C) 2013, Freiburg University
 * All rights reserved.
 * 
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*       http://www.apache.org/licenses/LICENSE-2.0
*
*   Unless required by applicable law or agreed to in writing, software
*   distributed under the License is distributed on an "AS IS" BASIS,
*   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
*   See the License for the specific language governing permissions and
*   limitations under the License.
*
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
*     * Redistributions of source code must retain the above copyright
*       notice, this list of conditions and the following disclaimer.
*     * Redistributions in binary form must reproduce the above copyright
*       notice, this list of conditions and the following disclaimer in the
*       documentation and/or other materials provided with the distribution.
*     * Neither the name of Osnabrueck University nor the names of its
*       contributors may be used to endorse or promote products derived from
*       this software without specific prior written permission.
*     * Neither the name of SICK AG nor the names of its
*       contributors may be used to endorse or promote products derived from
*       this software without specific prior written permission
*     * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
*       contributors may be used to endorse or promote products derived from
*       this software without specific prior written permission
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
 *
 *  Created on: 15.11.2013
 *
 *      Authors:
 *         Christian Dornhege <c.dornhege@googlemail.com>
 */
 
#ifndef SICK_TIM3XX_COMMON_TCP_H
#define SICK_TIM3XX_COMMON_TCP_H
 
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
 
#undef NOMINMAX // to get rid off warning C4005: "NOMINMAX": Makro-Neudefinition
 
#include "sick_scan_common.h"
#include "sick_generic_parser.h"
#include "template_queue.h"
 
namespace sick_scan_xd
{
/* class prepared for optimized time stamping */
 
  class DatagramWithTimeStamp
  {
  public:
    DatagramWithTimeStamp(rosTime timeStamp_, std::vector<unsigned char> datagram_)
    {
      timeStamp = timeStamp_;
      datagram = datagram_;
    }
 
    virtual std::vector<unsigned char> & data(void) { return datagram; }
 
// private:
    rosTime timeStamp;
    std::vector<unsigned char> datagram;
  };
 
 
  class SickScanCommonTcp : public SickScanCommon
  {
  public:
    static void disconnectFunctionS(void *obj);
 
    SickScanCommonTcp(const std::string &hostname, const std::string &port, int &timelimit, rosNodePtr nh, SickGenericParser *parser,
                      char cola_dialect_id);
 
    virtual ~SickScanCommonTcp();
 
    static void readCallbackFunctionS(void *obj, UINT8 *buffer, UINT32 &numOfBytes);
 
    void readCallbackFunction(UINT8 *buffer, UINT32 &numOfBytes);
 
    void setReplyMode(int _mode);
 
    int getReplyMode();
 
    void setEmulSensor(bool _emulFlag);
 
    bool getEmulSensor();
 
    bool stopScanData(bool force_immediate_shutdown = false);
 
    int numberOfDatagramInInputFifo();
 
    SopasEventMessage findFrameInReceiveBuffer();
 
    void processFrame(rosTime timeStamp, SopasEventMessage &frame);
 
    int reinit(rosNodePtr nh, int delay_millisec);
 
    virtual int init_device();
 
    virtual int close_device();
 
    bool isConnected() { return m_nw.isConnected(); }
 
    // Queue<std::vector<unsigned char> > recvQueue;
    Queue<DatagramWithTimeStamp> recvQueue;
    UINT32 m_alreadyReceivedBytes;
    UINT32 m_lastPacketSize;
    UINT8 m_packetBuffer[480000];
  protected:
    void disconnectFunction();
 
    void readCallbackFunctionOld(UINT8 *buffer, UINT32 &numOfBytes);
 
    virtual int sendSOPASCommand(const char *request, std::vector<unsigned char> *reply, int cmdLen, bool wait_for_reply = true);
 
 
    virtual int
    get_datagram(rosNodePtr nh, rosTime &recvTimeStamp, unsigned char *receiveBuffer, int bufferSize, int *actual_length,
                 bool isBinaryProtocol, int *numberOfRemainingFifoEntries, const std::vector<std::string>& datagram_keywords);
 
    // Helpers for boost asio
    virtual int readWithTimeout(size_t timeout_ms, char *buffer, int buffer_size, int *bytes_read, const std::vector<std::string>& datagram_keywords);
 
    /*void handleRead(boost::system::error_code error, size_t bytes_transfered);*/
 
    /*void checkDeadline();*/
 
  private:
 
 
    // Response buffer
    UINT32 m_numberOfBytesInResponseBuffer; 
    UINT8 m_responseBuffer[1024]; 
    Mutex m_receiveDataMutex; 
 
    // Receive buffer
    UINT32 m_numberOfBytesInReceiveBuffer; 
    UINT8 m_receiveBuffer[480000]; 
 
    bool m_beVerbose;
    bool m_emulSensor;
 
    //boost::asio::io_service io_service_;
    //boost::asio::deadline_timer deadline_;
    //boost::asio::streambuf input_buffer_;
    //boost::system::error_code ec_;
    size_t bytes_transfered_;
 
    std::string hostname_;
    std::string port_;
    int timelimit_;
    int m_replyMode;
  };
 
 
} /* namespace sick_scan_xd */
#endif /* SICK_TIM3XX_COMMON_TCP_H */