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

Timestamp:

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

Author:

cfougera

Message:

Last version

File:

• trunk/Sick/SickSocket.h (modified) (5 diffs)

trunk/Sick/SickSocket.h

@@ -3 +3 @@
 //  filename:   SickSocket.h
 //
-//  author:     Gerald Dherbomez & Cyril Fougeray
+//  author:     Gerald Dherbomez
+//              Modified by Cyril Fougeray
 //              Copyright Heudiasyc UMR UTC/CNRS 6599
 // 
@@ -31 +32 @@
 class SickLMSSensor;
 
+/**
+ * @brief The SickFrame class
+ */
 class SickFrame
 {
 public:
+    /**
+     * @brief SickFrame constructor
+     */
     SickFrame()
     {
@@ -41 +48 @@
     }
     
+    /// Destructor
     ~SickFrame()
     {
@@ -46 +54 @@
     }
     
-    qint64 size;
-    road_time_t time; 
-    char * msg; 
+    qint64 size; //!< Size of incoming packet.
+    road_time_t time; //!< Time when packet is received.
+    char * msg; //!< Packet (raw data).
 };
 
-// forward declaration
-
+/**
+ * @brief The SickFrameEvent class
+ * QEvent that encapsulates packets.
+ */
 class SickFrameEvent
         : public QEvent
 {
 public:
+    /// Constructor
     SickFrameEvent()
             : QEvent((QEvent::Type)(QEvent::User + 522))
     {}
     
+    /// Destructor
     ~SickFrameEvent()
     {}
     
+    /// Packet data
     SickFrame * frame;
 };
 
+/**
+ * @brief The SickSocket class
+ * Handles the ethernet connection with the remote sensor.
+ */
 class SickSocket
         : public QObject
@@ -73 +90 @@
  
 public:
+    /// Constructor
     SickSocket(AbstractSickSensor * parent);
+
+    /// Destructor
     ~SickSocket();
 
 public Q_SLOTS:
-    // enable the connection to the server
+    /// Enable the connection to the server
     void connectToServer(QString host, int port);
 
-    //avertit que le socket est connecté
+    /// Warns about connection of the socket and launch configuration of the socket.
     int socketConnected();
 
-    // appelé lorsque de nouvelles données sont arrivées sur le socket
+    /** Called when incoming data is received. Create an event and send it to the sensor's handler. @see AbstractSickComponent */
     void socketReadyRead();  
 
-    // close the connection with the server 
+    /// Close the connection with the server
     void closeSocket() { socket->close(); }
 
-    // fonction d'envoi des données au télémètre
+    /**
+     * @brief sendToServer Sends data to the remote lidar.
+     * @param data Data to be sent, translated in ASCII.
+     */
     void sendToServer(QString data);
 Q_SIGNALS:
-    // signal emis pour demander la configuration du télémètre 
+    /// Asked for configuring sensor.
     void configuration(); 
 
 protected slots:
-
-    // le socket est fermé par le serveur
+    /// Says to the user the connection is closed.
     void socketConnectionClosed();
 
-    // une erreur est survenue
+    /// Warns the user an error occured
     void socketError(QAbstractSocket::SocketError e); 
 
 private:
+    /// Socket
     QTcpSocket *socket; 
+
+    /// Mutex to use socket resource.
     QMutex mutex;
 
+    /// Parent (contains slots to connect to in order to pass the received data).
     AbstractSickSensor *myParent;
 };