Program Listing for File telegram.hpp
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// *****************************************************************************
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// © Copyright 2020, Septentrio NV/SA.
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#pragma once
// C++
#include <condition_variable>
#include <cstdint>
#include <mutex>
#include <queue>
#include <vector>
// ROSaic
#include <septentrio_gnss_driver/abstraction/typedefs.hpp>
static const uint8_t SYNC_BYTE_1 = 0x24;
static const uint8_t SBF_SYNC_BYTE_2 = 0x40;
static const uint8_t NMEA_SYNC_BYTE_2 = 0x47;
static const uint8_t NMEA_SYNC_BYTE_3 = 0x50;
static const uint8_t NMEA_INS_SYNC_BYTE_2 = 0x49;
static const uint8_t NMEA_INS_SYNC_BYTE_3 = 0x4E;
static const uint8_t RESPONSE_SYNC_BYTE_2 = 0x52;
static const uint8_t RESPONSE_SYNC_BYTE_3 = 0x3A;
static const uint8_t RESPONSE_SYNC_BYTE_3a = 0x21;
static const uint8_t ERROR_SYNC_BYTE_3 = 0x3F;
static const uint8_t CR = 0x0D;
static const uint8_t LF = 0x0A;
static const uint8_t CONNECTION_DESCRIPTOR_BYTE_I = 0x49;
static const uint8_t CONNECTION_DESCRIPTOR_BYTE_C = 0x43;
static const uint8_t CONNECTION_DESCRIPTOR_BYTE_U = 0x55;
static const uint8_t CONNECTION_DESCRIPTOR_BYTE_N = 0x4E;
static const uint8_t CONNECTION_DESCRIPTOR_BYTE_D = 0x44;
static const uint8_t CONNECTION_DESCRIPTOR_FOOTER = 0x3E;
static const uint16_t SBF_HEADER_SIZE = 8;
static const uint16_t MAX_SBF_SIZE = 65535;
static const uint16_t MAX_UDP_PACKET_SIZE = 65535;
namespace telegram_type {
enum TelegramType
{
EMPTY,
SBF,
NMEA,
NMEA_INS,
RESPONSE,
ERROR_RESPONSE,
CONNECTION_DESCRIPTOR,
UNKNOWN
};
}
struct Telegram
{
Timestamp stamp;
telegram_type::TelegramType type;
std::vector<uint8_t> message;
Telegram(size_t preallocate = 3) noexcept :
stamp(0), type(telegram_type::EMPTY),
message(std::vector<uint8_t>(preallocate))
{
}
~Telegram() {}
Telegram(const Telegram& other) noexcept :
stamp(other.stamp), type(other.type), message(other.message)
{
}
Telegram(Telegram&& other) noexcept :
stamp(other.stamp), type(other.type), message(other.message)
{
}
Telegram& operator=(const Telegram& other) noexcept
{
if (this != &other)
{
this->stamp = other.stamp;
this->type = other.type;
this->message = other.message;
}
return *this;
}
Telegram& operator=(Telegram&& other) noexcept
{
if (this != &other)
{
this->stamp = other.stamp;
this->type = other.type;
this->message = other.message;
}
return *this;
}
};
template <typename T>
class ConcurrentQueue
{
public:
[[nodiscard]] bool empty() const noexcept;
[[nodiscard]] size_t size() const noexcept;
void push(const T& input) noexcept;
void pop(T& output) noexcept;
private:
std::queue<T> queue_;
std::condition_variable cond_;
mutable std::mutex mtx_;
};
template <typename T>
[[nodiscard]] bool ConcurrentQueue<T>::empty() const noexcept
{
std::lock_guard<std::mutex> lck(mtx_);
return queue_.empty();
}
template <typename T>
[[nodiscard]] size_t ConcurrentQueue<T>::size() const noexcept
{
std::lock_guard<std::mutex> lck(mtx_);
return queue_.size();
}
template <typename T>
void ConcurrentQueue<T>::push(const T& input) noexcept
{
{
std::lock_guard<std::mutex> lck(mtx_);
queue_.push(input);
}
cond_.notify_one();
}
template <typename T>
void ConcurrentQueue<T>::pop(T& output) noexcept
{
std::unique_lock<std::mutex> lck(mtx_);
cond_.wait(lck, [this] { return !queue_.empty(); });
output = queue_.front();
queue_.pop();
}
typedef ConcurrentQueue<std::shared_ptr<Telegram>> TelegramQueue;