INSTINCT Code Coverage Report

Line	Branch	Exec	Source
1			// This file is part of INSTINCT, the INS Toolkit for Integrated
2			// Navigation Concepts and Training by the Institute of Navigation of
3			// the University of Stuttgart, Germany.
4			//
5			// This Source Code Form is subject to the terms of the Mozilla Public
6			// License, v. 2.0. If a copy of the MPL was not distributed with this
7			// file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9			/// @file EspressifUartSensor.hpp
10			/// @brief Class to read out Espressif Sensors
11			/// @author R. Lintz (r-lintz@gmx.de) (master thesis)
12			/// @author T. Topp (topp@ins.uni-stuttgart.de)
13			/// @date 2024-01-08
14
15			#pragma once
16
17			#include <memory>
18
19			#include "uart/sensors/sensors.hpp"
20
21			namespace NAV::vendor::espressif
22			{
23			/// @brief Class to read out Espressif Sensors
24			class EspressifUartSensor
25			{
26			public:
27			/// @brief Constructor
28			/// @param[in] name Name of the Parent Node
29			explicit EspressifUartSensor(std::string name);
30
31			/// @brief Default constructor
32			EspressifUartSensor() = default;
33			/// @brief Destructor
34		112	~EspressifUartSensor() = default;
35			/// @brief Copy constructor
36			EspressifUartSensor(const EspressifUartSensor&) = delete;
37			/// @brief Move constructor
38			EspressifUartSensor(EspressifUartSensor&&) = delete;
39			/// @brief Copy assignment operator
40			EspressifUartSensor& operator=(const EspressifUartSensor&) = delete;
41			/// @brief Move assignment operator
42			EspressifUartSensor& operator=(EspressifUartSensor&&) = delete;
43			/// @brief Arrow operator overload
44		✗	uart::sensors::UartSensor* operator->() { return &_sensor; };
45
46			/// @brief Collects data bytes and searches for packages inside of them
47			/// @param[in] dataByte The next data byte
48			/// @return nullptr if no packet found yet, otherwise a pointer to the packet
49			std::unique_ptr<uart::protocol::Packet> findPacket(uint8_t dataByte);
50
51			static constexpr uint8_t BINARY_SYNC_CHAR_1 = 0xB5; ///< µ - First sync character which begins a new binary message
52			static constexpr uint8_t BINARY_SYNC_CHAR_2 = 0x62; ///< b - Second sync character which begins a new binary message
53
54			private:
55			/// Name of the Parent Node
56			const std::string _name;
57
58			/// UartSensor object which handles the UART interface
59			uart::sensors::UartSensor _sensor{ ENDIANNESS,
60			packetFinderFunction,
61			this,
62			packetTypeFunction,
63			checksumFunction,
64			isErrorFunction,
65			isResponseFunction,
66			PACKET_HEADER_LENGTH };
67
68			/// @brief Function which is called to find packets in the provided data buffer
69			/// @param[in] data Raw data buffer which has potential packets inside
70			/// @param[in] timestamp Timestamp then the data in the buffer was received
71			/// @param[in] dispatchPacket Function to call when a complete packet was found
72			/// @param[in] dispatchPacketUserData User data to forward to the dispatchPacket function
73			/// @param[in] userData User data provided when regisering this function. Should contain the sensor object
74			static void packetFinderFunction(const std::vector<uint8_t>& data,
75			const uart::xplat::TimeStamp& timestamp,
76			uart::sensors::UartSensor::ValidPacketFoundHandler dispatchPacket, void* dispatchPacketUserData,
77			void* userData);
78
79			/// @brief Function which is called to determine the packet type (ascii/binary)
80			/// @param[in] packet Packet to check the type of
81			/// @return The type of the packet
82			static uart::protocol::Packet::Type packetTypeFunction(const uart::protocol::Packet& packet);
83
84			/// @brief Function which is called to verify packet integrity
85			/// @param[in] packet Packet to calculate the checksum for
86			/// @return True if the packet is fault free
87			static bool checksumFunction(const uart::protocol::Packet& packet);
88
89			/// @brief Function which determines, if the packet is an Error Packet
90			/// @param[in] packet The packet to check
91			static bool isErrorFunction(const uart::protocol::Packet& packet);
92
93			/// @brief Function which determines, if the packet is a Response
94			/// @param[in] packet The packet to check
95			static bool isResponseFunction(const uart::protocol::Packet& packet);
96
97			static constexpr uart::Endianness ENDIANNESS = uart::Endianness::ENDIAN_LITTLE; ///< Endianess of the sensor
98			static constexpr size_t PACKET_HEADER_LENGTH = 2; ///< Length of the header of each packet
99
100			bool _currentlyBuildingBinaryPacket{ false }; ///< Flag if currently a binary packet is built
101
102			bool _binarySyncChar2Found{ false }; ///< Flag if the second binary end character was found
103			bool _binaryPayloadLength1Found{ false }; ///< Flag if the first byte of the payload length was found
104			bool _binaryPayloadLength2Found{ false }; ///< Flag if the second byte of the payload length was found
105
106			/// Payload length of the current packet
107			uint16_t _binaryPayloadLength{ 0 };
108
109			/// Buffer to collect messages till they are complete
110			std::vector<uint8_t> _buffer;
111
112			/// Used for correlating raw data with where the packet was found for the end user.
113			size_t _runningDataIndex{ 0 };
114			/// Amount of bytes remaining for a complete packet
115			size_t _numOfBytesRemainingForCompletePacket{ 0 };
116
117			/// @brief Resets the current message tracking
118			void resetTracking();
119			};
120
121			} // namespace NAV::vendor::espressif
122