Class Command

Inheritance Relationships

Derived Types

Class Documentation

class Command

Base class for commands. Defines the base interface and does the common tasks.

Subclassed by sick::cola2::CloseSession, sick::cola2::CreateSession, sick::cola2::MethodCommand, sick::cola2::VariableCommand

Public Functions

Command(sick::cola2::Cola2Session &session, uint16_t command_type, 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.

inline virtual ~Command()

We have virtual member functions, so a virtual destructor is needed.

void lockExecutionMutex()

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

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.

Parameters:

telegram – The telegram, which will be modified with the data and header.

Returns:

Completed telegram.

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.

Parameters:

packet – The incoming data package which will be processed.

void waitForCompletion()

Scooped call to the mutex, which will block until the reply was processed.

uint32_t getSessionID() const

Returns the current session ID.

Returns:

The current session ID.

void setSessionID(uint32_t session_id)

Sets the session ID.

Parameters:

session_id – The new session ID.

bool wasSuccessful() const

Returns if the command was successfully parsed.

Returns:

If the command was successfully parsed.

uint8_t getCommandType() const

Returns the command type.

Returns:

The command type.

void setCommandType(const uint8_t &command_type)

Sets the command type.

Parameters:

command_type – The new command type.

uint8_t getCommandMode() const

Returns the command mode.

Returns:

The command mode.

void setCommandMode(const uint8_t &command_mode)

Sets the command mode.

Parameters:

command_mode – The new command mode.

uint16_t getRequestID() const

Returns the request id of the command.

Returns:

The request id.

void setRequestID(const uint16_t &request_id)

Sets the request ID of the command.

Parameters:

request_id – The new request id.

std::vector<uint8_t> getDataVector() const

Returns the data vector.

Returns:

The data vector.

void setDataVector(const std::vector<uint8_t> &data)

Sets the data vector.

Parameters:

data – The new data vector.

Protected Functions

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

Protected Attributes

sick::cola2::Cola2Session &m_session