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.

Definition at line 23 of file KvhUartSensor.hpp.

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.

Definition at line 127 of file KvhUartSensor.hpp.

◆ 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.

Definition at line 114 of file KvhUartSensor.hpp.

Constructor & Destructor Documentation

◆ KvhUartSensor() [1/4]

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

explicit

Constructor.

Parameters

[in] name Name of the Parent Node

Definition at line 14 of file KvhUartSensor.cpp.

◆ KvhUartSensor() [2/4]

NAV::vendor::kvh::KvhUartSensor::KvhUartSensor ( )

default

Default constructor.

◆ ~KvhUartSensor()

NAV::vendor::kvh::KvhUartSensor::~KvhUartSensor ( )

default

Destructor.

◆ KvhUartSensor() [3/4]

NAV::vendor::kvh::KvhUartSensor::KvhUartSensor ( const KvhUartSensor & )

delete

Copy constructor.

◆ KvhUartSensor() [4/4]

NAV::vendor::kvh::KvhUartSensor::KvhUartSensor ( KvhUartSensor && )

delete

Move constructor.

Member Function Documentation

◆ bFindImuHeader()

NAV::vendor::kvh::KvhUartSensor::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

Definition at line 31 of file KvhUartSensor.cpp.

◆ checksumFunction()

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

Definition at line 275 of file KvhUartSensor.cpp.

◆ 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

Definition at line 113 of file KvhUartSensor.cpp.

◆ isErrorFunction()

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

Definition at line 304 of file KvhUartSensor.cpp.

◆ isResponseFunction()

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

Definition at line 309 of file KvhUartSensor.cpp.

◆ operator->()

uart::sensors::UartSensor * NAV::vendor::kvh::KvhUartSensor::operator-> ( )

inline

Arrow operator overload.

Definition at line 43 of file KvhUartSensor.hpp.

◆ operator=() [1/2]

KvhUartSensor & NAV::vendor::kvh::KvhUartSensor::operator= ( const KvhUartSensor & )

delete

Copy assignment operator.

◆ operator=() [2/2]

KvhUartSensor & NAV::vendor::kvh::KvhUartSensor::operator= ( KvhUartSensor && )

delete

Move assignment operator.

◆ packetFinderFunction()

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

Definition at line 233 of file KvhUartSensor.cpp.

◆ packetTypeFunction()

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

Definition at line 249 of file KvhUartSensor.cpp.

◆ resetTracking()

void NAV::vendor::kvh::KvhUartSensor::resetTracking ( )

private

Resets the current message tracking.

Definition at line 20 of file KvhUartSensor.cpp.

Field Documentation

◆ _asciiEndChar1Found

bool NAV::vendor::kvh::KvhUartSensor::_asciiEndChar1Found

private

Flag if the first ascii end character was found.

Definition at line 111 of file KvhUartSensor.hpp.

◆ _buffer

std::vector<uint8_t> NAV::vendor::kvh::KvhUartSensor::_buffer

private

Buffer to collect messages till they are complete.

Definition at line 146 of file KvhUartSensor.hpp.

◆ _currentlyBuildingAsciiPacket

bool NAV::vendor::kvh::KvhUartSensor::_currentlyBuildingAsciiPacket

private

Flag if currently a ascii packet is built.

Definition at line 108 of file KvhUartSensor.hpp.

◆ _currentlyBuildingBinaryPacket

bool NAV::vendor::kvh::KvhUartSensor::_currentlyBuildingBinaryPacket

private

Flag if currently a binary packet is built.

Definition at line 109 of file KvhUartSensor.hpp.

◆ _eState

TagState NAV::vendor::kvh::KvhUartSensor::_eState

private

Current state of the header building process.

Definition at line 124 of file KvhUartSensor.hpp.

◆ _name

const std::string NAV::vendor::kvh::KvhUartSensor::_name

private

Name of the Parent Node.

Definition at line 60 of file KvhUartSensor.hpp.

◆ _packetType

HeaderType NAV::vendor::kvh::KvhUartSensor::_packetType

private

Current packet type determined by the header.

Definition at line 138 of file KvhUartSensor.hpp.

◆ _runningDataIndex

size_t NAV::vendor::kvh::KvhUartSensor::_runningDataIndex

private

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

Definition at line 149 of file KvhUartSensor.hpp.

◆ _sensor

uart::sensors::UartSensor NAV::vendor::kvh::KvhUartSensor::_sensor

private

UartSensor object which handles the UART interface.

Definition at line 63 of file KvhUartSensor.hpp.

◆ ASCII_END_CHAR_1

uint8_t NAV::vendor::kvh::KvhUartSensor::ASCII_END_CHAR_1

staticconstexprprivate

First Ascii End character.

Definition at line 103 of file KvhUartSensor.hpp.

◆ ASCII_END_CHAR_2

uint8_t NAV::vendor::kvh::KvhUartSensor::ASCII_END_CHAR_2

staticconstexprprivate

Second Ascii End character.

Definition at line 104 of file KvhUartSensor.hpp.

◆ ASCII_ESCAPE_CHAR

uint8_t NAV::vendor::kvh::KvhUartSensor::ASCII_ESCAPE_CHAR

staticconstexprprivate

Ascii Escape charater.

Definition at line 105 of file KvhUartSensor.hpp.

◆ ENDIANNESS

uart::Endianness NAV::vendor::kvh::KvhUartSensor::ENDIANNESS

staticconstexpr

Endianess of the sensor.

Definition at line 56 of file KvhUartSensor.hpp.

◆ HEADER_FMT_A

uint32_t NAV::vendor::kvh::KvhUartSensor::HEADER_FMT_A

staticconstexpr

Header Format A.

Definition at line 50 of file KvhUartSensor.hpp.

◆ HEADER_FMT_B

uint32_t NAV::vendor::kvh::KvhUartSensor::HEADER_FMT_B

staticconstexpr

Header Format B.

Definition at line 51 of file KvhUartSensor.hpp.

◆ HEADER_FMT_C

uint32_t NAV::vendor::kvh::KvhUartSensor::HEADER_FMT_C

staticconstexpr

Header Format C.

Definition at line 52 of file KvhUartSensor.hpp.

◆ HEADER_FMT_XBIT

uint32_t NAV::vendor::kvh::KvhUartSensor::HEADER_FMT_XBIT

staticconstexpr

Header Format X Bit.

Definition at line 53 of file KvhUartSensor.hpp.

◆ HEADER_FMT_XBIT2

uint32_t NAV::vendor::kvh::KvhUartSensor::HEADER_FMT_XBIT2

staticconstexpr

Header Format X Bit 2.

Definition at line 54 of file KvhUartSensor.hpp.

◆ MAX_SIZE_ASCII_PACKET

size_t NAV::vendor::kvh::KvhUartSensor::MAX_SIZE_ASCII_PACKET

staticconstexprprivate

Maximum size of a ascii packet before resetting it.

Definition at line 106 of file KvhUartSensor.hpp.

◆ PACKET_HEADER_LENGTH

size_t NAV::vendor::kvh::KvhUartSensor::PACKET_HEADER_LENGTH

staticconstexprprivate

Length of the packet header.

Definition at line 101 of file KvhUartSensor.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/util/Vendor/KVH/KvhUartSensor.hpp
/home/runner/work/INSTINCT/INSTINCT/src/util/Vendor/KVH/KvhUartSensor.cpp

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ HeaderType

◆ TagState

Constructor & Destructor Documentation

◆ KvhUartSensor() [1/4]

◆ KvhUartSensor() [2/4]

◆ ~KvhUartSensor()

◆ KvhUartSensor() [3/4]

◆ KvhUartSensor() [4/4]

Member Function Documentation

◆ bFindImuHeader()

◆ checksumFunction()

◆ findPacket()

◆ isErrorFunction()

◆ isResponseFunction()

◆ operator->()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ packetFinderFunction()

◆ packetTypeFunction()

◆ resetTracking()

Field Documentation

◆ _asciiEndChar1Found

◆ _buffer

◆ _currentlyBuildingAsciiPacket

◆ _currentlyBuildingBinaryPacket

◆ _eState

◆ _name

◆ _packetType

◆ _runningDataIndex

◆ _sensor

◆ ASCII_END_CHAR_1

◆ ASCII_END_CHAR_2

◆ ASCII_ESCAPE_CHAR

◆ ENDIANNESS

◆ HEADER_FMT_A

◆ HEADER_FMT_B

◆ HEADER_FMT_C

◆ HEADER_FMT_XBIT

◆ HEADER_FMT_XBIT2

◆ MAX_SIZE_ASCII_PACKET

◆ PACKET_HEADER_LENGTH