NAV::vendor::emlid::EmlidUartSensor Class Reference

Class to read out Emlid Sensors. More...

Public Member Functions
	EmlidUartSensor ()=default
	Default constructor.
	EmlidUartSensor (const EmlidUartSensor &)=delete
	Copy constructor.
	EmlidUartSensor (EmlidUartSensor &&)=delete
	Move constructor.
	EmlidUartSensor (std::string name)
	Constructor.
std::unique_ptr< uart::protocol::Packet >	findPacket (uint8_t dataByte)
	Collects data bytes and searches for packages inside of them.
uart::sensors::UartSensor *	operator-> ()
	Arrow operator overload.
EmlidUartSensor &	operator= (const EmlidUartSensor &)=delete
	Copy assignment operator.
EmlidUartSensor &	operator= (EmlidUartSensor &&)=delete
	Move assignment operator.
	~EmlidUartSensor ()=default
	Destructor.

Static Public Attributes
static constexpr uint8_t	ASCII_START_CHAR
	Ascii character which begins a new ascii message.
static constexpr uint8_t	BINARY_SYNC_CHAR_1
	R - First sync character which begins a new binary message.
static constexpr uint8_t	BINARY_SYNC_CHAR_2
	E - Second sync character which begins a new binary message.

Private Member Functions
void	resetTracking ()
	Resets the current message tracking.

Static Private Member Functions
static bool	checksumFunction (const uart::protocol::Packet &packet)
	Function which is called to verify packet integrity.
static bool	isErrorFunction (const uart::protocol::Packet &packet)
	Function which determines, if the packet is an Error Packet.
static bool	isResponseFunction (const uart::protocol::Packet &packet)
	Function which determines, if the packet is a Response.
static void	packetFinderFunction (const std::vector< uint8_t > &data, const uart::xplat::TimeStamp &timestamp, uart::sensors::UartSensor::ValidPacketFoundHandler dispatchPacket, void *dispatchPacketUserData, void *userData)
	Function which is called to find packets in the provided data buffer.
static uart::protocol::Packet::Type	packetTypeFunction (const uart::protocol::Packet &packet)
	Function which is called to determine the packet type (ascii/binary)

Private Attributes
bool	_asciiEndChar1Found
	Flag if the first ascii end character was found.
uint8_t	_binaryMsgId
	Message id of the current packet.
bool	_binaryMsgIdFound
	Flag if the message id was found.
uint16_t	_binaryPayloadLength
	Payload length of the current packet.
bool	_binaryPayloadLength1Found
	Flag if the first byte of the payload length was found.
bool	_binaryPayloadLength2Found
	Flag if the second byte of the payload length was found.
bool	_binarySyncChar2Found
	Flag if the second binary end character was found.
std::vector< uint8_t >	_buffer
	Buffer to collect messages till they are complete.
bool	_currentlyBuildingAsciiPacket
	Flag if currently a ascii packet is built.
bool	_currentlyBuildingBinaryPacket
	Flag if currently a binary packet is built.
const std::string	_name
	Name of the Parent Node.
size_t	_numOfBytesRemainingForCompletePacket
	Amount of bytes remaining for a complete packet.
size_t	_runningDataIndex
	Used for correlating raw data with where the packet was found for the end user.
uart::sensors::UartSensor	_sensor
	UartSensor object which handles the UART interface.

Static Private Attributes
static constexpr uint8_t	ASCII_END_CHAR_1
	First Ascii End character.
static constexpr uint8_t	ASCII_END_CHAR_2
	Second Ascii End character.
static constexpr uint8_t	ASCII_ESCAPE_CHAR
	Ascii Escape charater.
static constexpr uart::Endianness	ENDIANNESS
	Endianess of the sensor.
static constexpr size_t	PACKET_HEADER_LENGTH
	Length of the header of each packet.

Detailed Description

Class to read out Emlid Sensors.

Constructor & Destructor Documentation

EmlidUartSensor()

NAV::vendor::emlid::EmlidUartSensor::EmlidUartSensor ( std::string name )

explicit

Constructor.

Parameters

[in]

name

Name of the Parent Node

Member Function Documentation

checksumFunction()

static bool NAV::vendor::emlid::EmlidUartSensor::checksumFunction ( const uart::protocol::Packet & packet )

staticprivate

Function which is called to verify packet integrity.

Parameters

[in]

packet

Packet to calculate the checksum for

Returns

True if the packet is fault free

findPacket()

std::unique_ptr< uart::protocol::Packet > NAV::vendor::emlid::EmlidUartSensor::findPacket

(

uint8_t

dataByte

)

Collects data bytes and searches for packages inside of them.

Parameters

[in]

dataByte

The next data byte

Returns

nullptr if no packet found yet, otherwise a pointer to the packet

isErrorFunction()

static bool NAV::vendor::emlid::EmlidUartSensor::isErrorFunction ( const uart::protocol::Packet & packet )

staticprivate

Function which determines, if the packet is an Error Packet.

Parameters

[in]

packet

The packet to check

isResponseFunction()

static bool NAV::vendor::emlid::EmlidUartSensor::isResponseFunction ( const uart::protocol::Packet & packet )

staticprivate

Function which determines, if the packet is a Response.

Parameters

[in]

packet

The packet to check

packetFinderFunction()

static void NAV::vendor::emlid::EmlidUartSensor::packetFinderFunction ( const std::vector< uint8_t > & data, const uart::xplat::TimeStamp & timestamp, uart::sensors::UartSensor::ValidPacketFoundHandler dispatchPacket, void * dispatchPacketUserData, void * userData )

staticprivate

Function which is called to find packets in the provided data buffer.

Parameters

[in]	data	Raw data buffer which has potential packets inside
[in]	timestamp	Timestamp then the data in the buffer was received
[in]	dispatchPacket	Function to call when a complete packet was found
[in]	dispatchPacketUserData	User data to forward to the dispatchPacket function
[in]	userData	User data provided when regisering this function. Should contain the sensor object

packetTypeFunction()

static uart::protocol::Packet::Type NAV::vendor::emlid::EmlidUartSensor::packetTypeFunction ( const uart::protocol::Packet & packet )

staticprivate

Function which is called to determine the packet type (ascii/binary)

Parameters

[in]

packet

Packet to check the type of

Returns

The type of the packet

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The documentation for this class was generated from the following file:

• /home/runner/work/INSTINCT/INSTINCT/src/util/Vendor/Emlid/EmlidUartSensor.hpp