SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS > Class Template Reference

Provides an abstract parent for all Sick LIDAR devices. More...

#include <c++/drivers/base/src/SickLIDAR.hh>

Inheritance diagram for SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >:

[legend]Collaboration diagram for SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >:

[legend]List of all members.

Public Member Functions
	SickLIDAR ()
	Initializes the buffer monitor.
bool	IsInitialized ()
virtual	~SickLIDAR ()
	Destructor tears down buffer monitor.
Protected Member Functions
virtual void	_setupConnection ()=0
virtual void	_teardownConnection ()=0
void	_startListening () throw ( SickThreadException )
	Activates the buffer monitor for the driver.
void	_stopListening () throw ( SickThreadException )
	Activates the buffer monitor for the driver.
bool	_monitorRunning () const
void	_setBlockingIO () const throw ( SickIOException )
	A simple method for setting blocking I/O.
void	_setNonBlockingIO () const throw ( SickIOException )
	A simple method for setting non-blocking I/O.
void	_sendMessage (const SICK_MSG_CLASS &sick_message, const unsigned int byte_interval) const throw ( SickIOException )
	Sends a message to the Sick device.
void	_recvMessage (SICK_MSG_CLASS &sick_message, const unsigned int timeout_value) const throw ( SickTimeoutException )
	Attempt to acquire the latest available message from the device.
void	_recvMessage (SICK_MSG_CLASS &sick_message, const uint8_t *const byte_sequence, const unsigned int byte_sequence_length, const unsigned int timeout_value) const throw ( SickTimeoutException )
	Attempt to acquire a message having a payload beginning w/ the given byte sequence.
double	_computeElapsedTime (const struct timeval &beg_time, const struct timeval &end_time) const
virtual void	_sendMessageAndGetReply (const SICK_MSG_CLASS &send_message, SICK_MSG_CLASS &recv_message, const uint8_t *const byte_sequence, const unsigned int byte_sequence_length, const unsigned int byte_interval, const unsigned int timeout_value, const unsigned int num_tries) throw ( SickTimeoutException, SickIOException)
Protected Attributes
int	_sick_fd
bool	_sick_initialized
SICK_MONITOR_CLASS *	_sick_buffer_monitor
bool	_sick_monitor_running

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Detailed Description

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>
class SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >

Provides an abstract parent for all Sick LIDAR devices.

---

Constructor & Destructor Documentation

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::SickLIDAR

(

)

Initializes the buffer monitor.

The primary constructor

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::~SickLIDAR

(

)

[virtual]

Destructor tears down buffer monitor.

A virtual destructor

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Member Function Documentation

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

bool SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::IsInitialized

(

)

[inline]

Indicates whether device is initialized

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

virtual void SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_setupConnection

(

)

[protected, pure virtual]

A method for setting up a general connection

Implemented in SickToolbox::SickLMS.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

virtual void SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_teardownConnection

(

)

[protected, pure virtual]

A method for tearing down a connection to the Sick

Implemented in SickToolbox::SickLMS.

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

void SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_startListening

(

)

throw ( SickThreadException ) [protected]

Activates the buffer monitor for the driver.

Starts the driver listening for messages

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

void SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_stopListening

(

)

throw ( SickThreadException ) [protected]

Activates the buffer monitor for the driver.

Stops the driver from listening

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

bool SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_monitorRunning

(

)

const [inline, protected]

Indicates whether there is a monitor currently running

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

void SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_setBlockingIO

(

)

const throw ( SickIOException ) [protected]

A simple method for setting blocking I/O.

Make the associated file descriptor non blocking

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

void SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_setNonBlockingIO

(

)

const throw ( SickIOException ) [protected]

A simple method for setting non-blocking I/O.

Make the associated file descriptor non blocking

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

void SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sendMessage	(	const SICK_MSG_CLASS &	sick_message,
		const unsigned int	byte_interval
	)			const throw ( SickIOException ) [protected]

Sends a message to the Sick device.

Send a message to the Sick LD (allows specifying min time between transmitted bytes)

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

void SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_recvMessage	(	SICK_MSG_CLASS &	sick_message,
		const unsigned int	timeout_value
	)			const throw ( SickTimeoutException ) [protected]

Attempt to acquire the latest available message from the device.

Acquire the next message from the message container

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

void SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_recvMessage	(	SICK_MSG_CLASS &	sick_message,
		const uint8_t *const	byte_sequence,
		const unsigned int	byte_sequence_length,
		const unsigned int	timeout_value
	)			const throw ( SickTimeoutException ) [protected]

Attempt to acquire a message having a payload beginning w/ the given byte sequence.

Search the stream for a payload with a particular "header" byte string

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

double SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_computeElapsedTime	(	const struct timeval &	beg_time,
		const struct timeval &	end_time
	)			const [inline, protected]

An inline function for computing elapsed time

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

void SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sendMessageAndGetReply	(	const SICK_MSG_CLASS &	send_message,
		SICK_MSG_CLASS &	recv_message,
		const uint8_t *const	byte_sequence,
		const unsigned int	byte_sequence_length,
		const unsigned int	byte_interval,
		const unsigned int	timeout_value,
		const unsigned int	num_tries
	)			throw ( SickTimeoutException, SickIOException) [protected, virtual]

Sends a request to the Sick and acquires looks for the reply

---

Member Data Documentation

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

int SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sick_fd [protected]

Sick device file descriptor

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

bool SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sick_initialized [protected]

A flag to indicated whether the device is properly initialized

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

SICK_MONITOR_CLASS* SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sick_buffer_monitor [protected]

A pointer to the driver's buffer monitor

template<class SICK_MONITOR_CLASS, class SICK_MSG_CLASS>

bool SickToolbox::SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sick_monitor_running [protected]

Indicates whether the Sick buffer monitor is running

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

• c++/drivers/base/src/SickLIDAR.hh

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