vesc_driver::VescFrame Class Reference

#include <vesc_packet.h>

Inheritance diagram for vesc_driver::VescFrame:

Public Member Functions
virtual const Buffer &	frame () const
virtual	~VescFrame ()

Static Public Attributes
static constexpr CRC::Parameters< crcpp_uint16, 16 >	CRC_TYPE = { 0x1021, 0x0000, 0x0000, false, false }
static const unsigned int	VESC_EOF_VAL = 3
	VESC end-of-frame value. More...
static const int	VESC_MAX_FRAME_SIZE = 6 + VESC_MAX_PAYLOAD_SIZE
	Largest VESC frame size, in bytes. More...
static const int	VESC_MAX_PAYLOAD_SIZE = 1024
	Maximum VESC payload size, in bytes. More...
static const int	VESC_MIN_FRAME_SIZE = 5
	Smallest VESC frame size, in bytes. More...
static const unsigned int	VESC_SOF_VAL_LARGE_FRAME = 3
	VESC start of "large" frame value. More...
static const unsigned int	VESC_SOF_VAL_SMALL_FRAME = 2
	VESC start of "small" frame value. More...

Protected Member Functions
	VescFrame (int payload_size)

Protected Attributes
std::shared_ptr< Buffer >	frame_
	Stores frame data, shared_ptr for shallow copy. More...
BufferRange	payload_
	View into frame's payload section. More...

Private Member Functions
	VescFrame (const BufferRangeConst &frame, const BufferRangeConst &payload)

Friends
class	VescPacketFactory

Detailed Description

The raw frame for communicating with the VESC

Definition at line 48 of file vesc_packet.h.

Constructor & Destructor Documentation

virtual vesc_driver::VescFrame::~VescFrame ( )

inlinevirtual

Definition at line 51 of file vesc_packet.h.

vesc_driver::VescFrame::VescFrame ( int  payload_size )

explicitprotected

Construct frame with specified payload size.

Definition at line 43 of file vesc_packet.cpp.

vesc_driver::VescFrame::VescFrame ( const BufferRangeConst &  frame, const BufferRangeConst &  payload  )

private

Construct from buffer. Used by VescPacketFactory factory.

Definition at line 69 of file vesc_packet.cpp.

Member Function Documentation

virtual const Buffer& vesc_driver::VescFrame::frame ( ) const

inlinevirtual

Definition at line 54 of file vesc_packet.h.

Friends And Related Function Documentation

friend class VescPacketFactory

friend

Give VescPacketFactory access to private constructor.

Definition at line 82 of file vesc_packet.h.

Member Data Documentation

constexpr CRC::Parameters< crcpp_uint16, 16 > vesc_driver::VescFrame::CRC_TYPE = { 0x1021, 0x0000, 0x0000, false, false }

static

CRC parameters for the VESC

Definition at line 68 of file vesc_packet.h.

std::shared_ptr<Buffer> vesc_driver::VescFrame::frame_

protected

Stores frame data, shared_ptr for shallow copy.

Definition at line 74 of file vesc_packet.h.

BufferRange vesc_driver::VescFrame::payload_

protected

View into frame's payload section.

Definition at line 75 of file vesc_packet.h.

const unsigned int vesc_driver::VescFrame::VESC_EOF_VAL = 3

static

VESC end-of-frame value.

Definition at line 65 of file vesc_packet.h.

const int vesc_driver::VescFrame::VESC_MAX_FRAME_SIZE = 6 + VESC_MAX_PAYLOAD_SIZE

static

Largest VESC frame size, in bytes.

Definition at line 62 of file vesc_packet.h.

const int vesc_driver::VescFrame::VESC_MAX_PAYLOAD_SIZE = 1024

static

Maximum VESC payload size, in bytes.

Definition at line 60 of file vesc_packet.h.

const int vesc_driver::VescFrame::VESC_MIN_FRAME_SIZE = 5

static

Smallest VESC frame size, in bytes.

Definition at line 61 of file vesc_packet.h.

const unsigned int vesc_driver::VescFrame::VESC_SOF_VAL_LARGE_FRAME = 3

static

VESC start of "large" frame value.

Definition at line 64 of file vesc_packet.h.

const unsigned int vesc_driver::VescFrame::VESC_SOF_VAL_SMALL_FRAME = 2

static

VESC start of "small" frame value.

Definition at line 63 of file vesc_packet.h.

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

• vesc_packet.h
• vesc_packet.cpp