Changeset 42 in pacpussensors for trunk/Sick/SickLMSSensor.h

Timestamp:

04/01/14 14:47:39 (10 years ago)

Author:

cfougera

Message:

Last version

File:

• trunk/Sick/SickLMSSensor.h (modified) (2 diffs)

trunk/Sick/SickLMSSensor.h

@@ -116 +116 @@
      *
      * A message starts with a <STX> (0x02 in ASCII) char and ends with <ETX> (0x03 in ASCII).
+     * This function stores packets until a complete message is received. In this case, the
+     * message is added to the list of MessageLMS, msgList.
      */
     void reconstituteMessage(const char * packet, const int length, road_time_t time);
 
-    // decoupe le message en scan
     /**
      * @brief processScanData Parse information and process every needed values.
@@ -136 +137 @@
 
 public Q_SLOTS:  
-    //Fonction qui permet de trier les données reçues et de les enregistrer dans une structure point, puis dans un fichier binaire .dbt
+    /**
+     * @brief customEvent allows to receive the incoming data and store them into known structures.
+     * @param e Event that carries the Ethernet packets and receiving time.
+     */
     void customEvent(QEvent * e);
+
+    /**
+     * @brief Configure the object, not used for the moment.
+     */
     void configure();
     
 public:
-    SickSocket * S_socket; //on déclare pointeur de socket
-    // SickComponent * myParent;
+    /**
+     * @brief S_socket, used to receive and send data to the remote sensor.
+     */
+    SickSocket * S_socket;
 
 private:
-    // to recognize between several sensors
+    /// Name is used to recognize between several sensors and store data into .dbt and utc files.
     QString name_;
 
-    // The SickLMS IP or hostname
+    /// The IP address of the remote Sick LDMRS sensor we are connected to.
     QString ipaddr_;
 
-    // The SickLMS port
+    /// The SickLDMRS port
     int port_;
 
-    bool recording_; // Enable storing in DBT
+    /// Enable storing in DBT + UTC files
+    bool recording_;
 
     scanCfg mainCfg;
 
+    /// Append new data into the private MessagePacket @b pendingBytes.
     void storePendingBytes(road_time_t time);
-    void fillDataHeader(MessageLMS & msg);
-    void fillScanHeader(MessageLMS & msg);
+
+    /** Ask for scan configuration (frequency and angular resolution) . [See §5.2 of the documentation : telegrams]{TL_LMS1xx_5xx_TiM3xx_JEF300_JEF500_en_8014631_20120508.pdf}
+        Data is parsed in customEvent slot.
+    */
     void askScanCfg();
 
+    /**
+     * @brief findSTX looks for the first character of the message <STX>.
+     * @param packets Raw data received.
+     * @param size Size of the raw data array (\c packets).
+     * @return Index of the <STX> character in \c packets.
+     */
     int findSTX(const char* packets, const unsigned int size );
+
+    /**
+     * @brief splitMessage Split message into arrays of string to parse.
+     * @param message Contains raw data and is modified to store the vector of strings.
+     * @return Size of the vector.
+     */
     int splitMessage(MessageLMS* message);
+
+    /**
+     * @brief xstol convert hexadecimal values coded in ASCII to integer.
+     * @param str String to convert (Hexadecimal value)
+     * @return long integer value (to cast as needed)
+     */
     long xstol(std::string str);
 
-    std::string kSickMemoryName;
-    std::string kSickDbtFileName;
-    std::string kSickUtcFileName;
-
+    std::string kSickDbtFileName; //!< Name of the DBT file.
+    std::string kSickUtcFileName; //!< Name of the UTC file.
+
+    /// List of messages to process.
     std::list<MessageLMS> msgList;
 
+    /// Received raw data is appended into this MessagePacket.
     MessagePacket pendingBytes;
 
-    // write the data on the disk in the dbt file and the associated binary file
+    /**
+     * @brief Write data into .dbt + .utc files.
+     * @param msg
+     *
+     * SickLMS_dbt structure is filled and stored into the DBT file.
+     * The arrays of points' distance is then stored into the UTC file, depending on data received.
+     */
     void writeData(MessageLMS &msg);
 
-    // SickLMS_dbt dbtData_;
-    pacpus::DbiteFile dbtFile_;
-    std::ofstream dataFile_;
+    pacpus::DbiteFile dbtFile_; //!< DBT file.
+    std::ofstream dataFile_; //!< UTC file.
 
 #ifdef SickLMS_SH_MEM