ublox Namespace Reference

Classes
class	Message
	Keeps track of which class and message IDs can be decoded by a given message type. More...
struct	Options
	Options for the Reader and Writer for encoding and decoding messages. More...
class	Reader
	Decodes byte messages into u-blox ROS messages. More...
struct	Serializer
	Encodes and decodes messages. More...
class	Writer
	Encodes a u-blox ROS message as a byte array. More...
Functions
static void	calculateChecksum (const uint8_t *data, uint32_t size, uint8_t &ck_a, uint8_t &ck_b)
	calculate the checksum of a u-blox_message
static uint16_t	calculateChecksum (const uint8_t *data, uint32_t size, uint16_t &checksum)
	calculate the checksum of a u-blox_message.
Variables
static const uint8_t	DEFAULT_SYNC_A = 0xB5
	u-blox message Sync A char
static const uint8_t	DEFAULT_SYNC_B = 0x62
	u-blox message Sync B char
static const uint8_t	kChecksumLength = 2
	Number of checksum bytes in the u-blox message.
static const uint8_t	kHeaderLength = 6
	Number of bytes in a message header (Sync chars + class ID + message ID)

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Detailed Description

This file defines the Serializer template class which encodes and decodes specific message types. The Reader class decodes messages and from a buffer and the Writer class encodes messages and writes them to a buffer. It also declares macros for declaring Messages. The Message class maps ROS messages types to class and message ID(s).

This namespace is for u-blox message serialization.

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Function Documentation

static void ublox::calculateChecksum	(	const uint8_t *	data,
		uint32_t	size,
		uint8_t &	ck_a,
		uint8_t &	ck_b
	)		[inline, static]

calculate the checksum of a u-blox_message

Parameters:

data	the start of the u-blox message
data	the size of the u-blox message
ck_a	the checksum a output
ck_b	the checksum b output

Definition at line 43 of file checksum.h.

static uint16_t ublox::calculateChecksum	(	const uint8_t *	data,
		uint32_t	size,
		uint16_t &	checksum
	)		[inline, static]

calculate the checksum of a u-blox_message.

Parameters:

data	the start of the u-blox message
data	the size of the u-blox message
checksum	the checksum output

Returns:

the checksum

Definition at line 62 of file checksum.h.

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Variable Documentation

const uint8_t ublox::DEFAULT_SYNC_A = 0xB5 [static]

u-blox message Sync A char

Definition at line 57 of file serialization.h.

const uint8_t ublox::DEFAULT_SYNC_B = 0x62 [static]

u-blox message Sync B char

Definition at line 59 of file serialization.h.

const uint8_t ublox::kChecksumLength = 2 [static]

Number of checksum bytes in the u-blox message.

Definition at line 63 of file serialization.h.

const uint8_t ublox::kHeaderLength = 6 [static]

Number of bytes in a message header (Sync chars + class ID + message ID)

Definition at line 61 of file serialization.h.