sbp.h

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/*
 * Copyright (C) 2011-2014 Swift Navigation Inc.
 * Contact: Fergus Noble <fergus@swift-nav.com>
 *
 * This source is subject to the license found in the file 'LICENSE' which must
 * be be distributed together with this source. All other rights reserved.
 *
 * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
 * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 */

#ifndef LIBSWIFTNAV_SBP_H
#define LIBSWIFTNAV_SBP_H

#include "common.h"

#define SBP_OK              0

#define SBP_OK_CALLBACK_EXECUTED 1

#define SBP_OK_CALLBACK_UNDEFINED 2

#define SBP_CALLBACK_ERROR -1

#define SBP_CRC_ERROR      -2

#define SBP_SEND_ERROR     -3

#define SBP_NULL_ERROR     -4


typedef void (*sbp_msg_callback_t)(u16 sender_id, u8 len, u8 msg[], void *context);

typedef struct sbp_msg_callbacks_node {
  u16 msg_type;                        
  sbp_msg_callback_t cb;               
  void *context;                       
  struct sbp_msg_callbacks_node *next; 
} sbp_msg_callbacks_node_t;

typedef struct {
  enum {
    WAITING = 0,
    GET_TYPE,
    GET_SENDER,
    GET_LEN,
    GET_MSG,
    GET_CRC
  } state;
  u16 msg_type;
  u16 sender_id;
  u16 crc;
  u8 msg_len;
  u8 n_read;
  u8 msg_buff[256];
  void* io_context;
  sbp_msg_callbacks_node_t* sbp_msg_callbacks_head;
} sbp_state_t;

s8 sbp_register_callback(sbp_state_t* s, u16 msg_type, sbp_msg_callback_t cb, void* context,
                         sbp_msg_callbacks_node_t *node);
void sbp_clear_callbacks(sbp_state_t* s);
sbp_msg_callbacks_node_t* sbp_find_callback(sbp_state_t* s, u16 msg_type);
void sbp_state_init(sbp_state_t *s);
void sbp_state_set_io_context(sbp_state_t *s, void* context);
s8 sbp_process(sbp_state_t *s, u32 (*read)(u8 *buff, u32 n, void* context));
s8 sbp_send_message(sbp_state_t *s, u16 msg_type, u16 sender_id, u8 len, u8 *payload,
                    u32 (*write)(u8 *buff, u32 n, void* context));

#endif /* LIBSWIFTNAV_SBP_H */