KvhUartSensor.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include <memory>
 
#include "uart/sensors/sensors.hpp"
 
namespace NAV::vendor::kvh
{
class KvhUartSensor
{
  public:
    explicit KvhUartSensor(std::string name);
 
    KvhUartSensor() = default;
    ~KvhUartSensor() = default;
    KvhUartSensor(const KvhUartSensor&) = delete;
    KvhUartSensor(KvhUartSensor&&) = delete;
    KvhUartSensor& operator=(const KvhUartSensor&) = delete;
    KvhUartSensor& operator=(KvhUartSensor&&) = delete;
    uart::sensors::UartSensor* operator->() { return &_sensor; };
 
    std::unique_ptr<uart::protocol::Packet> findPacket(uint8_t dataByte);
 
    static constexpr uint32_t HEADER_FMT_A = 0xFE81FF55;     
    static constexpr uint32_t HEADER_FMT_B = 0xFE81FF56;     
    static constexpr uint32_t HEADER_FMT_C = 0xFE81FF57;     
    static constexpr uint32_t HEADER_FMT_XBIT = 0xFE8100AA;  
    static constexpr uint32_t HEADER_FMT_XBIT2 = 0xFE8100AB; 
 
    static constexpr uart::Endianness ENDIANNESS = uart::Endianness::ENDIAN_BIG; 
 
  private:
    const std::string _name;
 
    uart::sensors::UartSensor _sensor{ ENDIANNESS,
                                       packetFinderFunction,
                                       this,
                                       packetTypeFunction,
                                       checksumFunction,
                                       isErrorFunction,
                                       isResponseFunction,
                                       PACKET_HEADER_LENGTH };
 
    static void packetFinderFunction(const std::vector<uint8_t>& data,
                                     const uart::xplat::TimeStamp& timestamp,
                                     uart::sensors::UartSensor::ValidPacketFoundHandler dispatchPacket, void* dispatchPacketUserData,
                                     void* userData);
 
    static uart::protocol::Packet::Type packetTypeFunction(const uart::protocol::Packet& packet);
 
    static bool checksumFunction(const uart::protocol::Packet& packet);
 
    static bool isErrorFunction(const uart::protocol::Packet& packet);
 
    static bool isResponseFunction(const uart::protocol::Packet& packet);
 
    static constexpr size_t PACKET_HEADER_LENGTH = 0; 
 
    static constexpr uint8_t ASCII_END_CHAR_1 = '\r';    
    static constexpr uint8_t ASCII_END_CHAR_2 = '\n';    
    static constexpr uint8_t ASCII_ESCAPE_CHAR = '\0';   
    static constexpr size_t MAX_SIZE_ASCII_PACKET = 256; 
 
    bool _currentlyBuildingAsciiPacket{ false };  
    bool _currentlyBuildingBinaryPacket{ false }; 
 
    bool _asciiEndChar1Found{ false }; 
 
    enum TagState : uint8_t
    {
        SM_H1,   
        SM_H2,   
        SM_H3,   
        SM_X3,   
        SM_IDLE, 
    };
 
    TagState _eState = SM_IDLE;
 
    enum HeaderType : uint8_t
    {
        FMT_A,       
        FMT_B,       
        FMT_C,       
        FMT_XBIT,    
        FMT_XBIT2,   
        FMT_UNKNOWN, 
    };
 
    HeaderType _packetType = HeaderType::FMT_UNKNOWN;
 
    HeaderType bFindImuHeader(uint8_t ui8Data);
 
    std::vector<uint8_t> _buffer;
 
    size_t _runningDataIndex{ 0 };
 
    void resetTracking();
};
 
} // namespace NAV::vendor::kvh