SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH > Class Template Reference

Provides an abstract parent for all Sick messages. More...

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

List of all members.

Public Member Functions
	SickMessage ()
	A default constructor.
void	BuildMessage (const uint8_t *const payload_buffer, const unsigned int payload_length)
	Constructs a Sick message given the parameter values.
virtual void	ParseMessage (const uint8_t *const message_buffer)=0
	Parses a sequence of bytes into a Sick message.
void	GetMessage (uint8_t *const message_buffer) const
	Get the message as a sequence of well-formed bytes.
unsigned int	GetMessageLength () const
void	GetPayload (uint8_t *const payload_buffer) const
	Get the payload contents as a sequence of well-formed bytes.
void	GetPayloadSubregion (uint8_t *const payload_sub_buffer, const unsigned int start_idx, const unsigned int stop_idx) const
	Get a specified sub-region of the payload buffer.
unsigned int	GetPayloadLength () const
bool	IsPopulated () const
virtual void	Clear ()
	Reset all internal fields and buffers.
virtual void	Print () const
	Print data about this object.
virtual	~SickMessage ()
	A destructor.
Static Public Attributes
static const unsigned int	MESSAGE_HEADER_LENGTH = MSG_HEADER_LENGTH
static const unsigned int	MESSAGE_TRAILER_LENGTH = MSG_TRAILER_LENGTH
static const unsigned int	MESSAGE_PAYLOAD_MAX_LENGTH = MSG_PAYLOAD_MAX_LENGTH
static const unsigned int	MESSAGE_MAX_LENGTH = MESSAGE_HEADER_LENGTH + MESSAGE_PAYLOAD_MAX_LENGTH + MESSAGE_TRAILER_LENGTH
Protected Attributes
unsigned int	_payload_length
unsigned int	_message_length
uint8_t	_message_buffer [MESSAGE_MAX_LENGTH]
bool	_populated

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Detailed Description

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>
class SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >

Provides an abstract parent for all Sick messages.

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Constructor & Destructor Documentation

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::SickMessage

(

)

A default constructor.

A standard constructor

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::~SickMessage

(

)

[virtual]

A destructor.

A virtual destructor

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Member Function Documentation

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::BuildMessage	(	const uint8_t *const	payload_buffer,
		const unsigned int	payload_length
	)

Constructs a Sick message given the parameter values.

Construct a well-formed Sick message

Reimplemented in SickToolbox::SickLDMessage.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::ParseMessage

(

const uint8_t *const

message_buffer

)

[pure virtual]

Parses a sequence of bytes into a Sick message.

Populates fields given a sequence of bytes representing a raw message

Implemented in SickToolbox::SickLDMessage, and SickToolbox::SickLMSMessage.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetMessage

(

uint8_t *const

message_buffer

)

const

Get the message as a sequence of well-formed bytes.

Returns a copy of the raw message buffer

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetMessageLength

(

)

const [inline]

Resturns the total message length in bytes

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetPayload

(

uint8_t *const

payload_buffer

)

const

Get the payload contents as a sequence of well-formed bytes.

Returns a copy of the raw message payload

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetPayloadSubregion	(	uint8_t *const	payload_sub_buffer,
		const unsigned int	start_idx,
		const unsigned int	stop_idx
	)			const

Get a specified sub-region of the payload buffer.

Returns a subregion of the payload specified by indices

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetPayloadLength

(

)

const [inline]

Returns the total payload length in bytes

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

bool SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::IsPopulated

(

)

const [inline]

Indicates whether the message container is populated

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::Clear

(

)

[virtual]

Reset all internal fields and buffers.

Clear the contents of the message container/object

Reimplemented in SickToolbox::SickLMSMessage.

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

void SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::Print

(

)

const [virtual]

Print data about this object.

Print the contents of the message

Reimplemented in SickToolbox::SickLDMessage, and SickToolbox::SickLMSMessage.

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Member Data Documentation

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

const unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::MESSAGE_HEADER_LENGTH = MSG_HEADER_LENGTH [static]

Some constants to make things more manageable

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

const unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::MESSAGE_TRAILER_LENGTH = MSG_TRAILER_LENGTH [static]

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

const unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::MESSAGE_PAYLOAD_MAX_LENGTH = MSG_PAYLOAD_MAX_LENGTH [static]

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

const unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::MESSAGE_MAX_LENGTH = MESSAGE_HEADER_LENGTH + MESSAGE_PAYLOAD_MAX_LENGTH + MESSAGE_TRAILER_LENGTH [static]

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::_payload_length [protected]

The length of the message payload in bytes

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

unsigned int SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::_message_length [protected]

The length of the message in bytes

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

uint8_t SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::_message_buffer[MESSAGE_MAX_LENGTH] [protected]

The message as a raw sequence of bytes

template<unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH>

bool SickToolbox::SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::_populated [protected]

Indicates whether the message container/object is populated

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

• c++/drivers/base/src/SickMessage.hh

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