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.

Definition at line 23 of file EmlidUartSensor.hpp.

Constructor & Destructor Documentation

◆ EmlidUartSensor() [1/4]

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

explicit

Constructor.

Parameters

[in] name Name of the Parent Node

Definition at line 14 of file EmlidUartSensor.cpp.

◆ EmlidUartSensor() [2/4]

NAV::vendor::emlid::EmlidUartSensor::EmlidUartSensor ( )

default

Default constructor.

◆ ~EmlidUartSensor()

NAV::vendor::emlid::EmlidUartSensor::~EmlidUartSensor ( )

default

Destructor.

◆ EmlidUartSensor() [3/4]

NAV::vendor::emlid::EmlidUartSensor::EmlidUartSensor ( const EmlidUartSensor & )

delete

Copy constructor.

◆ EmlidUartSensor() [4/4]

NAV::vendor::emlid::EmlidUartSensor::EmlidUartSensor ( EmlidUartSensor && )

delete

Move constructor.

Member Function Documentation

◆ checksumFunction()

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

Definition at line 195 of file EmlidUartSensor.cpp.

◆ 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

Definition at line 38 of file EmlidUartSensor.cpp.

◆ isErrorFunction()

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

Definition at line 219 of file EmlidUartSensor.cpp.

◆ isResponseFunction()

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

Definition at line 224 of file EmlidUartSensor.cpp.

◆ operator->()

uart::sensors::UartSensor * NAV::vendor::emlid::EmlidUartSensor::operator-> ( )

inline

Arrow operator overload.

Definition at line 43 of file EmlidUartSensor.hpp.

◆ operator=() [1/2]

EmlidUartSensor & NAV::vendor::emlid::EmlidUartSensor::operator= ( const EmlidUartSensor & )

delete

Copy assignment operator.

◆ operator=() [2/2]

EmlidUartSensor & NAV::vendor::emlid::EmlidUartSensor::operator= ( EmlidUartSensor && )

delete

Move assignment operator.

◆ packetFinderFunction()

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

Definition at line 157 of file EmlidUartSensor.cpp.

◆ packetTypeFunction()

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

Definition at line 173 of file EmlidUartSensor.cpp.

◆ resetTracking()

void NAV::vendor::emlid::EmlidUartSensor::resetTracking ( )

private

Resets the current message tracking.

Definition at line 20 of file EmlidUartSensor.cpp.

Field Documentation

◆ _asciiEndChar1Found

bool NAV::vendor::emlid::EmlidUartSensor::_asciiEndChar1Found

private

Flag if the first ascii end character was found.

Definition at line 106 of file EmlidUartSensor.hpp.

◆ _binaryMsgId

uint8_t NAV::vendor::emlid::EmlidUartSensor::_binaryMsgId

private

Message id of the current packet.

Definition at line 113 of file EmlidUartSensor.hpp.

◆ _binaryMsgIdFound

bool NAV::vendor::emlid::EmlidUartSensor::_binaryMsgIdFound

private

Flag if the message id was found.

Definition at line 108 of file EmlidUartSensor.hpp.

◆ _binaryPayloadLength

uint16_t NAV::vendor::emlid::EmlidUartSensor::_binaryPayloadLength

private

Payload length of the current packet.

Definition at line 115 of file EmlidUartSensor.hpp.

◆ _binaryPayloadLength1Found

bool NAV::vendor::emlid::EmlidUartSensor::_binaryPayloadLength1Found

private

Flag if the first byte of the payload length was found.

Definition at line 109 of file EmlidUartSensor.hpp.

◆ _binaryPayloadLength2Found

bool NAV::vendor::emlid::EmlidUartSensor::_binaryPayloadLength2Found

private

Flag if the second byte of the payload length was found.

Definition at line 110 of file EmlidUartSensor.hpp.

◆ _binarySyncChar2Found

bool NAV::vendor::emlid::EmlidUartSensor::_binarySyncChar2Found

private

Flag if the second binary end character was found.

Definition at line 107 of file EmlidUartSensor.hpp.

◆ _buffer

std::vector<uint8_t> NAV::vendor::emlid::EmlidUartSensor::_buffer

private

Buffer to collect messages till they are complete.

Definition at line 118 of file EmlidUartSensor.hpp.

◆ _currentlyBuildingAsciiPacket

bool NAV::vendor::emlid::EmlidUartSensor::_currentlyBuildingAsciiPacket

private

Flag if currently a ascii packet is built.

Definition at line 103 of file EmlidUartSensor.hpp.

◆ _currentlyBuildingBinaryPacket

bool NAV::vendor::emlid::EmlidUartSensor::_currentlyBuildingBinaryPacket

private

Flag if currently a binary packet is built.

Definition at line 104 of file EmlidUartSensor.hpp.

◆ _name

const std::string NAV::vendor::emlid::EmlidUartSensor::_name

private

Name of the Parent Node.

Definition at line 56 of file EmlidUartSensor.hpp.

◆ _numOfBytesRemainingForCompletePacket

size_t NAV::vendor::emlid::EmlidUartSensor::_numOfBytesRemainingForCompletePacket

private

Amount of bytes remaining for a complete packet.

Definition at line 123 of file EmlidUartSensor.hpp.

◆ _runningDataIndex

size_t NAV::vendor::emlid::EmlidUartSensor::_runningDataIndex

private

Used for correlating raw data with where the packet was found for the end user.

Definition at line 121 of file EmlidUartSensor.hpp.

◆ _sensor

uart::sensors::UartSensor NAV::vendor::emlid::EmlidUartSensor::_sensor

private

UartSensor object which handles the UART interface.

Definition at line 59 of file EmlidUartSensor.hpp.

◆ ASCII_END_CHAR_1

uint8_t NAV::vendor::emlid::EmlidUartSensor::ASCII_END_CHAR_1

staticconstexprprivate

First Ascii End character.

Definition at line 99 of file EmlidUartSensor.hpp.

◆ ASCII_END_CHAR_2

uint8_t NAV::vendor::emlid::EmlidUartSensor::ASCII_END_CHAR_2

staticconstexprprivate

Second Ascii End character.

Definition at line 100 of file EmlidUartSensor.hpp.

◆ ASCII_ESCAPE_CHAR

uint8_t NAV::vendor::emlid::EmlidUartSensor::ASCII_ESCAPE_CHAR

staticconstexprprivate

Ascii Escape charater.

Definition at line 101 of file EmlidUartSensor.hpp.

◆ ASCII_START_CHAR

uint8_t NAV::vendor::emlid::EmlidUartSensor::ASCII_START_CHAR

staticconstexpr

Ascii character which begins a new ascii message.

Definition at line 52 of file EmlidUartSensor.hpp.

◆ BINARY_SYNC_CHAR_1

uint8_t NAV::vendor::emlid::EmlidUartSensor::BINARY_SYNC_CHAR_1

staticconstexpr

R - First sync character which begins a new binary message.

Definition at line 50 of file EmlidUartSensor.hpp.

◆ BINARY_SYNC_CHAR_2

uint8_t NAV::vendor::emlid::EmlidUartSensor::BINARY_SYNC_CHAR_2

staticconstexpr

E - Second sync character which begins a new binary message.

Definition at line 51 of file EmlidUartSensor.hpp.

◆ ENDIANNESS

uart::Endianness NAV::vendor::emlid::EmlidUartSensor::ENDIANNESS

staticconstexprprivate

Endianess of the sensor.

Definition at line 97 of file EmlidUartSensor.hpp.

◆ PACKET_HEADER_LENGTH

size_t NAV::vendor::emlid::EmlidUartSensor::PACKET_HEADER_LENGTH

staticconstexprprivate

Length of the header of each packet.

Definition at line 98 of file EmlidUartSensor.hpp.

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

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

Public Member Functions

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EmlidUartSensor() [1/4]

◆ EmlidUartSensor() [2/4]

◆ ~EmlidUartSensor()

◆ EmlidUartSensor() [3/4]

◆ EmlidUartSensor() [4/4]

Member Function Documentation

◆ checksumFunction()

◆ findPacket()

◆ isErrorFunction()

◆ isResponseFunction()

◆ operator->()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ packetFinderFunction()

◆ packetTypeFunction()

◆ resetTracking()

Field Documentation

◆ _asciiEndChar1Found

◆ _binaryMsgId

◆ _binaryMsgIdFound

◆ _binaryPayloadLength

◆ _binaryPayloadLength1Found

◆ _binaryPayloadLength2Found

◆ _binarySyncChar2Found

◆ _buffer

◆ _currentlyBuildingAsciiPacket

◆ _currentlyBuildingBinaryPacket

◆ _name

◆ _numOfBytesRemainingForCompletePacket

◆ _runningDataIndex

◆ _sensor

◆ ASCII_END_CHAR_1

◆ ASCII_END_CHAR_2

◆ ASCII_ESCAPE_CHAR

◆ ASCII_START_CHAR

◆ BINARY_SYNC_CHAR_1

◆ BINARY_SYNC_CHAR_2

◆ ENDIANNESS

◆ PACKET_HEADER_LENGTH