ublox::Reader Class Reference

Decodes byte messages into u-blox ROS messages. More...

#include <serialization.h>

Public Types
typedef const uint8_t *	iterator

Public Member Functions
uint16_t	checksum ()
	Get the checksum of the u-blox message. More...
uint8_t	classId ()
const uint8_t *	data ()
iterator	end ()
bool	found ()
	Has a u-blox message been found in the buffer? More...
template<typename T >
bool	hasType ()
	Can the given message type decode the current message in the buffer? More...
bool	isMessage (uint8_t class_id, uint8_t message_id)
	Does the u-blox message have the given class and message ID? More...
uint32_t	length ()
	Get the length of the u-blox message payload. More...
uint8_t	messageId ()
iterator	next ()
	Go to the start of the next message based on the received message length. More...
iterator	pos ()
	Get the current position in the read buffer. More...
template<typename T >
bool	read (typename boost::call_traits< T >::reference message, bool search=false)
	Decode the given message. More...
	Reader (const uint8_t *data, uint32_t count, const Options &options=Options())
iterator	search ()
	Search the buffer for the beginning of the next u-blox message. More...

Private Attributes
uint32_t	count_
	the number of bytes in the buffer, //! decrement as the buffer is read More...
const uint8_t *	data_
	The buffer of message bytes. More...
bool	found_
	Whether or not a message has been found. More...
Options	options_
	Options representing the sync char values, etc. More...

Detailed Description

Decodes byte messages into u-blox ROS messages.

Definition at line 167 of file serialization.h.

Member Typedef Documentation

typedef const uint8_t* ublox::Reader::iterator

Definition at line 179 of file serialization.h.

Constructor & Destructor Documentation

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

inline

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

Definition at line 175 of file serialization.h.

Member Function Documentation

uint16_t ublox::Reader::checksum ( )

inline

Get the checksum of the u-blox message.

Returns

the checksum of the u-blox message

Definition at line 265 of file serialization.h.

uint8_t ublox::Reader::classId ( )

inline

Definition at line 247 of file serialization.h.

const uint8_t* ublox::Reader::data ( )

inline

Definition at line 258 of file serialization.h.

iterator ublox::Reader::end ( )

inline

Definition at line 243 of file serialization.h.

bool ublox::Reader::found ( )

inline

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

Returns

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

Definition at line 203 of file serialization.h.

template<typename T >

bool ublox::Reader::hasType ( )

inline

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

Definition at line 300 of file serialization.h.

bool ublox::Reader::isMessage ( uint8_t  class_id, uint8_t  message_id  )

inline

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

Definition at line 310 of file serialization.h.

uint32_t ublox::Reader::length ( )

inline

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

Definition at line 257 of file serialization.h.

uint8_t ublox::Reader::messageId ( )

inline

Definition at line 248 of file serialization.h.

iterator ublox::Reader::next ( )

inline

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.

Definition at line 226 of file serialization.h.

iterator ublox::Reader::pos ( )

inline

Get the current position in the read buffer.

Returns

the current position of the read buffer

Definition at line 239 of file serialization.h.

template<typename T >

bool ublox::Reader::read ( typename boost::call_traits< T >::reference  message, bool  search = false  )

inline

Decode the given message.

Parameters

message	the output message
search	whether or not to skip to the next message in the buffer

Definition at line 276 of file serialization.h.

iterator ublox::Reader::search ( )

inline

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

Returns

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

Definition at line 185 of file serialization.h.

Member Data Documentation

uint32_t ublox::Reader::count_

private

the number of bytes in the buffer, //! decrement as the buffer is read

Definition at line 319 of file serialization.h.

const uint8_t* ublox::Reader::data_

private

The buffer of message bytes.

Definition at line 317 of file serialization.h.

bool ublox::Reader::found_

private

Whether or not a message has been found.

Definition at line 321 of file serialization.h.

Options ublox::Reader::options_

private

Options representing the sync char values, etc.

Definition at line 323 of file serialization.h.

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

• serialization.h