Class Reader

• Defined in File serialization.hpp

Class Documentation

class Reader

Decodes byte messages into u-blox ROS messages.

Public Types

using iterator = const uint8_t*

Public Functions

inline Reader(const uint8_t *data, uint32_t count, const Options &options = Options())

Parameters:

• data – a buffer containing u-blox messages

• count – the size of the buffer

• options – A struct containing the parameters sync_a and sync_b which represent the sync bytes indicating the beginning of the message

inline iterator search()

Search the buffer for the beginning of the next u-blox message.

Returns:

a pointer to the start of the next u-blox message

inline bool found()

Has a u-blox message been found in the buffer?

Returns:

true if A message with the correct header & length has been found

inline iterator next()

Go to the start of the next message based on the received message length.

Warning: Does not go to the correct byte location if the received message length is incorrect. If this is the case, search must be called.

inline iterator pos()

Get the current position in the read buffer.

Returns:

the current position of the read buffer

inline iterator end()

inline uint8_t classId()

inline uint8_t messageId()

inline uint32_t length()

Get the length of the u-blox message payload.

Payload length does not include the header or checksum length. Determines the length from the header of the u-blox message.

Returns:

the length of the message payload

inline const uint8_t *data()

inline uint16_t checksum()

Get the checksum of the u-blox message.

Returns:

the checksum of the u-blox message

template<typename T>
inline bool read(T &message, bool search = false)

Decode the given message.

Parameters:

• message – the output message

• search – whether or not to skip to the next message in the buffer

template<typename T>
inline bool hasType()

Can the given message type decode the current message in the buffer?

Returns:

whether the given message type can decode the current message in the buffer

inline bool isMessage(uint8_t class_id, uint8_t message_id)

Does the u-blox message have the given class and message ID?

Returns:

Whether or not the u-blox message has the given class and message ID

inline const std::string &getExtraData() const