NAV::vendor::kvh::KvhUartSensor Class Reference

Class to read out KVH Sensors. More...

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

Static Public Attributes
static constexpr uart::Endianness	ENDIANNESS
	Endianess of the sensor.
static constexpr uint32_t	HEADER_FMT_A
	Header Format A.
static constexpr uint32_t	HEADER_FMT_B
	Header Format B.
static constexpr uint32_t	HEADER_FMT_C
	Header Format C.
static constexpr uint32_t	HEADER_FMT_XBIT
	Header Format X Bit.
static constexpr uint32_t	HEADER_FMT_XBIT2
	Header Format X Bit 2.

Private Types
enum	HeaderType : uint8_t {   FMT_A ,   FMT_B ,   FMT_C ,   FMT_XBIT ,   FMT_XBIT2 ,   FMT_UNKNOWN }
	Possible Header Types. More...
enum	TagState : uint8_t {   SM_H1 ,   SM_H2 ,   SM_H3 ,   SM_X3 ,   SM_IDLE }
	Possible states in the header building process. More...

Private Member Functions
HeaderType	bFindImuHeader (uint8_t ui8Data)
	Function which finds the header from the provided data.
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.
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.
TagState	_eState
	Current state of the header building process.
const std::string	_name
	Name of the Parent Node.
HeaderType	_packetType
	Current packet type determined by the header.
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 size_t	MAX_SIZE_ASCII_PACKET
	Maximum size of a ascii packet before resetting it.
static constexpr size_t	PACKET_HEADER_LENGTH
	Length of the packet header.

Detailed Description

Class to read out KVH Sensors.

Member Enumeration Documentation

HeaderType

enum NAV::vendor::kvh::KvhUartSensor::HeaderType : uint8_t

private

Possible Header Types.

Enumerator
FMT_A	Use header A.
FMT_B	Use header B.
FMT_C	Use header C.
FMT_XBIT	Format XBIT.
FMT_XBIT2	Format XBIT2.
FMT_UNKNOWN	Unknown format.

TagState

enum NAV::vendor::kvh::KvhUartSensor::TagState : uint8_t

private

Possible states in the header building process.

Enumerator
SM_H1	H1.
SM_H2	H2.
SM_H3	H3.
SM_X3	X3.
SM_IDLE	IDLE.

Constructor & Destructor Documentation

KvhUartSensor()

NAV::vendor::kvh::KvhUartSensor::KvhUartSensor ( std::string name )

explicit

Constructor.

Parameters

[in]

name

Name of the Parent Node

Member Function Documentation

bFindImuHeader()

HeaderType NAV::vendor::kvh::KvhUartSensor::bFindImuHeader ( uint8_t ui8Data )

private

Function which finds the header from the provided data.

Parameters

[in]

ui8Data

Byte to construct the header from

Returns

Header type if found or unkown

checksumFunction()

static bool NAV::vendor::kvh::KvhUartSensor::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::kvh::KvhUartSensor::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::kvh::KvhUartSensor::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::kvh::KvhUartSensor::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::kvh::KvhUartSensor::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::kvh::KvhUartSensor::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/KVH/KvhUartSensor.hpp