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sick_tim_common_mockup.cpp
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sick_tim_common_mockup.cpp
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/*
* Copyright (C) 2015, Osnabrück University
* 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 Osnabrück University 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: 30.01.2015
*
* Author:
* Martin Günther <mguenthe@uos.de>
*
*/
#include <sick_tim/sick_tim_common_mockup.h>
namespace sick_tim
{
SickTimCommonMockup::SickTimCommonMockup(AbstractParser* parser) : SickTimCommon(parser)
{
sub_ = nh_.subscribe("datagram", 1, &SickTimCommonMockup::datagramCB, this);
}
SickTimCommonMockup::~SickTimCommonMockup()
{
}
int SickTimCommonMockup::close_device()
{
ROS_INFO("Mockup - close_device()");
return 0;
}
/**
* Send a SOPAS command to the device and print out the response to the console.
*/
int SickTimCommonMockup::sendSOPASCommand(const char* request, std::vector<unsigned char> * reply)
{
ROS_ERROR("Mockup - sendSOPASCommand(), this should never be called");
return ExitError;
}
/*
* provided as a separate method (not inside constructor) so we can return error codes
*/
int SickTimCommonMockup::init_device()
{
ROS_INFO("Mockup - init_device()");
return ExitSuccess;
}
/*
* provided as a separate method (not inside constructor) so we can return error codes
*/
int SickTimCommonMockup::init_scanner()
{
ROS_INFO("Mockup - init_scanner()");
return ExitSuccess;
}
int SickTimCommonMockup::get_datagram(unsigned char* receiveBuffer, int bufferSize, int* actual_length)
{
ROS_DEBUG("Mockup - get_datagram()");
// wait for next datagram
while(!datagram_msg_)
{
if (!ros::ok())
return ExitError;
ros::Duration(0.01).sleep();
ros::spinOnce();
}
// copy datagram to receiveBuffer
std::vector<char> str(datagram_msg_->data.begin(), datagram_msg_->data.end());
str.push_back('\0');
*actual_length = datagram_msg_->data.length();
datagram_msg_.reset();
if (bufferSize < *actual_length + 1)
{
ROS_ERROR("Mockup - Buffer too small!");
return ExitError;
}
strncpy(reinterpret_cast<char *>(receiveBuffer), &str[0], *actual_length + 1);
return ExitSuccess;
}
void SickTimCommonMockup::datagramCB(const std_msgs::String::ConstPtr &msg)
{
if (datagram_msg_)
ROS_WARN("Mockup - dropping datagram message");
datagram_msg_ = msg;
}
} /* namespace sick_tim */