#include <Message.h>

Inheritance diagram for clearpath::Message:

[legend]

Public Member Functions
uint16_t	getChecksum ()

uint8_t	getFlags ()

uint8_t	getLength ()

uint8_t	getLengthComp ()

size_t	getPayload (void *buf, size_t max_size)

size_t	getPayloadLength ()

uint32_t	getTimestamp ()

size_t	getTotalLength ()

uint16_t	getType ()

uint8_t	getVersion ()

bool	isCommand ()

bool	isData ()

bool	isRequest ()

bool	isValid (char *whyNot=NULL, size_t strLen=0)

	Message ()

	Message (void *input, size_t msg_len)

	Message (const Message &other)

	Message (uint16_t type, uint8_t *payload, size_t payload_len, uint32_t timestamp=0, uint8_t flags=0, uint8_t version=0)

virtual std::ostream &	printMessage (std::ostream &stream=std::cout)

void	printRaw (std::ostream &stream=std::cout)

void	send ()

size_t	toBytes (void *buf, size_t buf_size)

virtual	~Message ()

Static Public Member Functions
static Message *	factory (void *input, size_t msg_len)

static Message *	popNext ()

static Message *	waitNext (double timeout=0.0)

Static Public Attributes
static const size_t	MAX_MSG_LENGTH = 256

static const size_t	MIN_MSG_LENGTH = HEADER_LENGTH + CRC_LENGTH

static const uint8_t	SOH = 0xAA

static const uint8_t	STX = 0x55

Protected Types
enum	dataOffsets { SOH_OFST = 0, LENGTH_OFST, LENGTH_COMP_OFST, VERSION_OFST, TIMESTAMP_OFST, FLAGS_OFST = 8, TYPE_OFST, STX_OFST = 11, PAYLOAD_OFST }

Protected Member Functions
size_t	crcOffset ()

uint8_t *	getPayloadPointer (size_t offset=0)

void	makeValid ()

void	setFlags (uint8_t flags)

void	setLength (uint8_t len)

void	setPayload (void *buf, size_t buf_size)

void	setPayloadLength (uint8_t len)

void	setTimestamp (uint32_t timestamp)

void	setType (uint16_t type)

void	setVersion (uint8_t version)

Protected Attributes
uint8_t	data [MAX_MSG_LENGTH]

bool	is_sent

size_t	total_len

Static Protected Attributes
static const uint16_t	CRC_INIT_VAL = 0xFFFF

static const size_t	CRC_LENGTH = 2

static const size_t	HEADER_LENGTH = 12

Friends
class	Transport

Detailed Description

Definition at line 75 of file Message.h.

Member Enumeration Documentation

◆ dataOffsets

enum clearpath::Message::dataOffsets

protected

Enumerator
SOH_OFST
LENGTH_OFST
LENGTH_COMP_OFST
VERSION_OFST
TIMESTAMP_OFST
FLAGS_OFST
TYPE_OFST
STX_OFST
PAYLOAD_OFST

Definition at line 88 of file Message.h.

Constructor & Destructor Documentation

◆ Message() [1/4]

clearpath::Message::Message ( )

Definition at line 74 of file Message.cpp.

◆ Message() [2/4]

clearpath::Message::Message	(	void *	input,
		size_t	msg_len
	)

Definition at line 81 of file Message.cpp.

◆ Message() [3/4]

clearpath::Message::Message ( const Message & other )

Definition at line 89 of file Message.cpp.

◆ Message() [4/4]

clearpath::Message::Message	(	uint16_t	type,
		uint8_t *	payload,
		size_t	payload_len,
		uint32_t	timestamp = `0`,
		uint8_t	flags = `0`,
		uint8_t	version = `0`
	)

Definition at line 97 of file Message.cpp.

◆ ~Message()

clearpath::Message::~Message ( )

virtual

Definition at line 127 of file Message.cpp.

Member Function Documentation

◆ crcOffset()

size_t clearpath::Message::crcOffset ( )

inlineprotected

Definition at line 117 of file Message.h.

◆ factory()

Message * clearpath::Message::factory	(	void *	input,
		size_t	msg_len
	)

static

Instantiates the Message subclass corresponding to the type field in raw message data.

Parameters

input	The raw message data to instantiate from
msg_len	The length of input.

Returns: An instance of the correct Message subclass

Definition at line 385 of file Message.cpp.

◆ getChecksum()

uint16_t clearpath::Message::getChecksum ( )

Definition at line 216 of file Message.cpp.

◆ getFlags()

uint8_t clearpath::Message::getFlags ( )

Definition at line 206 of file Message.cpp.

◆ getLength()

uint8_t clearpath::Message::getLength ( )

Definition at line 186 of file Message.cpp.

◆ getLengthComp()

uint8_t clearpath::Message::getLengthComp ( )

Definition at line 191 of file Message.cpp.

◆ getPayload()

size_t clearpath::Message::getPayload	(	void *	buf,
		size_t	buf_size
	)

Copies message payload into a provided buffer.

Parameters

buf	The buffer to fill
buf_size	Maximum length of buf

Returns: number of bytes copied.

Definition at line 167 of file Message.cpp.

◆ getPayloadLength()

size_t clearpath::Message::getPayloadLength ( )

inline

Definition at line 167 of file Message.h.

◆ getPayloadPointer()

uint8_t * clearpath::Message::getPayloadPointer ( size_t offset = 0 )

protected

Get a pointer to the payload withing this Message's internal storage.

Parameters

offset The offset from the beginning of the payload.

Returns: a pointer to this Message's internal storage.

Definition at line 181 of file Message.cpp.

◆ getTimestamp()

uint32_t clearpath::Message::getTimestamp ( )

Definition at line 201 of file Message.cpp.

◆ getTotalLength()

size_t clearpath::Message::getTotalLength ( )

inline

Definition at line 174 of file Message.h.

◆ getType()

uint16_t clearpath::Message::getType ( )

Definition at line 211 of file Message.cpp.

◆ getVersion()

uint8_t clearpath::Message::getVersion ( )

Definition at line 196 of file Message.cpp.

◆ isCommand()

bool clearpath::Message::isCommand ( )

inline

Definition at line 183 of file Message.h.

◆ isData()

bool clearpath::Message::isData ( )

inline

Definition at line 193 of file Message.h.

◆ isRequest()

bool clearpath::Message::isRequest ( )

inline

Definition at line 188 of file Message.h.

◆ isValid()

bool clearpath::Message::isValid	(	char *	whyNot = `NULL`,
		size_t	strLen = `0`
	)

Checks the consistency of this message.

Parameters

whyNot	Optionally, a reason for validation failure will be written here.
strLen	Length of the optional whyNot string

Returns: true if the message is valid, false otherwise.

Definition at line 302 of file Message.cpp.

◆ makeValid()

void clearpath::Message::makeValid ( )

protected

Sets SOH, STX, length, and checksum so that this message becomes valid.

Definition at line 340 of file Message.cpp.

◆ popNext()

Message * clearpath::Message::popNext ( )

static

Definition at line 486 of file Message.cpp.

◆ printMessage()

std::ostream & clearpath::Message::printMessage ( std::ostream & stream = std::cout )

virtual

Reimplemented in clearpath::DataVelocity, clearpath::DataSystemStatus, clearpath::DataSafetySystemStatus, clearpath::DataRawVoltage, clearpath::DataRawTemperature, clearpath::DataRawOrientation, clearpath::DataRawMagnetometer, clearpath::DataRawGyro, clearpath::DataRawCurrent, clearpath::DataRawAcceleration, clearpath::DataRangefinderTimings, clearpath::DataRangefinders, clearpath::DataProcessorStatus, clearpath::DataPowerSystem, clearpath::DataPlatformRotation, clearpath::DataPlatformOrientation, clearpath::DataPlatformMagnetometer, clearpath::DataPlatformName, clearpath::DataPlatformInfo, clearpath::DataPlatformAcceleration, clearpath::DataMaxSpeed, clearpath::DataMaxAcceleration, clearpath::DataGear, clearpath::DataFirmwareInfo, clearpath::DataEncodersRaw, clearpath::DataEncoders, clearpath::DataEcho, clearpath::DataDifferentialSpeed, clearpath::DataDifferentialOutput, clearpath::DataDifferentialControl, and clearpath::DataAckermannOutput.

Definition at line 350 of file Message.cpp.

◆ printRaw()

void clearpath::Message::printRaw ( std::ostream & stream = std::cout )

Definition at line 367 of file Message.cpp.

◆ send()

void clearpath::Message::send ( )

Definition at line 132 of file Message.cpp.

◆ setFlags()

void clearpath::Message::setFlags ( uint8_t flags )

protected

Definition at line 240 of file Message.cpp.

◆ setLength()

void clearpath::Message::setLength ( uint8_t len )

protected

Definition at line 221 of file Message.cpp.

◆ setPayload()

void clearpath::Message::setPayload	(	void *	buf,
		size_t	buf_size
	)

protected

Set the payload of this message. Modifies the length of the message as necessary, as per setPayloadLength.

See also: Message::setPayloadLength()

Parameters

buf	Buffer containing the new payload.
buf_size	Length of buf.

Definition at line 270 of file Message.cpp.

◆ setPayloadLength()

void clearpath::Message::setPayloadLength ( uint8_t len )

protected

Changes the payload length of the packet. Does not update packet len/~len fields or the checksum. Call makeValid() to update these fields.

Parameters

len	The new payload length

Definition at line 256 of file Message.cpp.

◆ setTimestamp()

void clearpath::Message::setTimestamp ( uint32_t timestamp )

protected

Definition at line 235 of file Message.cpp.

◆ setType()

void clearpath::Message::setType ( uint16_t type )

protected

Definition at line 245 of file Message.cpp.

◆ setVersion()

void clearpath::Message::setVersion ( uint8_t version )

protected

Definition at line 230 of file Message.cpp.

◆ toBytes()

size_t clearpath::Message::toBytes	(	void *	buf,
		size_t	buf_size
	)

Copy the complete raw content of this message to a buffer.

Parameters

buf	The buffer to copy to
buf_size	The maximum length of buf

Returns: buf on success, NULL on failure

Definition at line 284 of file Message.cpp.

◆ waitNext()

Message * clearpath::Message::waitNext ( double timeout = 0.0 )

static

Definition at line 491 of file Message.cpp.

Friends And Related Function Documentation

◆ Transport

friend class Transport

friend

Definition at line 109 of file Message.h.

Member Data Documentation

◆ CRC_INIT_VAL

const uint16_t clearpath::Message::CRC_INIT_VAL = 0xFFFF

staticprotected

Definition at line 83 of file Message.h.

◆ CRC_LENGTH

const size_t clearpath::Message::CRC_LENGTH = 2

staticprotected

Definition at line 82 of file Message.h.

◆ data

uint8_t clearpath::Message::data[MAX_MSG_LENGTH]

protected

Definition at line 101 of file Message.h.

◆ HEADER_LENGTH

const size_t clearpath::Message::HEADER_LENGTH = 12

staticprotected

Definition at line 85 of file Message.h.

◆ is_sent

bool clearpath::Message::is_sent

protected

Definition at line 107 of file Message.h.

◆ MAX_MSG_LENGTH

const size_t clearpath::Message::MAX_MSG_LENGTH = 256

static

Definition at line 78 of file Message.h.

◆ MIN_MSG_LENGTH

const size_t clearpath::Message::MIN_MSG_LENGTH = HEADER_LENGTH + CRC_LENGTH

static

Definition at line 112 of file Message.h.

◆ SOH

const uint8_t clearpath::Message::SOH = 0xAA

static

Definition at line 113 of file Message.h.

◆ STX

const uint8_t clearpath::Message::STX = 0x55

static

Definition at line 114 of file Message.h.

◆ total_len

size_t clearpath::Message::total_len

protected

Definition at line 103 of file Message.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ dataOffsets

Constructor & Destructor Documentation

◆ Message() [1/4]

◆ Message() [2/4]

◆ Message() [3/4]

◆ Message() [4/4]

◆ ~Message()

Member Function Documentation

◆ crcOffset()

◆ factory()

◆ getChecksum()

◆ getFlags()

◆ getLength()

◆ getLengthComp()

◆ getPayload()

◆ getPayloadLength()

◆ getPayloadPointer()

◆ getTimestamp()

◆ getTotalLength()

◆ getType()

◆ getVersion()

◆ isCommand()

◆ isData()

◆ isRequest()

◆ isValid()

◆ makeValid()

◆ popNext()

◆ printMessage()

◆ printRaw()

◆ send()

◆ setFlags()

◆ setLength()

◆ setPayload()

◆ setPayloadLength()

◆ setTimestamp()

◆ setType()

◆ setVersion()

◆ toBytes()

◆ waitNext()

Friends And Related Function Documentation

◆ Transport

Member Data Documentation

◆ CRC_INIT_VAL

◆ CRC_LENGTH

◆ data

◆ HEADER_LENGTH

◆ is_sent

◆ MAX_MSG_LENGTH

◆ MIN_MSG_LENGTH

◆ SOH

◆ STX

◆ total_len