#include <Message.h>

Inheritance diagram for clearpath::Message:

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

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

clearpath::Message::Message ( )

Definition at line 74 of file Message.cpp.

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

Definition at line 81 of file Message.cpp.

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

Definition at line 89 of file Message.cpp.

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.

clearpath::Message::~Message ( ) [virtual]

Definition at line 127 of file Message.cpp.

Member Function Documentation

size_t clearpath::Message::crcOffset ( ) [inline, protected]

Definition at line 117 of file Message.h.

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.

uint16_t clearpath::Message::getChecksum ( )

Definition at line 216 of file Message.cpp.

uint8_t clearpath::Message::getFlags ( )

Reimplemented in clearpath::DataSafetySystemStatus.

Definition at line 206 of file Message.cpp.

uint8_t clearpath::Message::getLength ( )

Definition at line 186 of file Message.cpp.

uint8_t clearpath::Message::getLengthComp ( )

Definition at line 191 of file Message.cpp.

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.

size_t clearpath::Message::getPayloadLength ( ) [inline]

Definition at line 167 of file Message.h.

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.

uint32_t clearpath::Message::getTimestamp ( )

Definition at line 201 of file Message.cpp.

size_t clearpath::Message::getTotalLength ( ) [inline]

Definition at line 174 of file Message.h.

uint16_t clearpath::Message::getType ( )

Definition at line 211 of file Message.cpp.

uint8_t clearpath::Message::getVersion ( )

Definition at line 196 of file Message.cpp.

bool clearpath::Message::isCommand ( ) [inline]

Definition at line 183 of file Message.h.

bool clearpath::Message::isData ( ) [inline]

Definition at line 193 of file Message.h.

bool clearpath::Message::isRequest ( ) [inline]

Definition at line 188 of file Message.h.

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.

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.

Message * clearpath::Message::popNext ( ) [static]

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 486 of file Message.cpp.

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.

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

Definition at line 367 of file Message.cpp.

void clearpath::Message::send ( )

Definition at line 132 of file Message.cpp.

void clearpath::Message::setFlags ( uint8_t flags ) [protected]

Definition at line 240 of file Message.cpp.

void clearpath::Message::setLength ( uint8_t len ) [protected]

Definition at line 221 of file Message.cpp.

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.

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.

void clearpath::Message::setTimestamp ( uint32_t timestamp ) [protected]

Definition at line 235 of file Message.cpp.

void clearpath::Message::setType ( uint16_t type ) [protected]

Definition at line 245 of file Message.cpp.

void clearpath::Message::setVersion ( uint8_t version ) [protected]

Definition at line 230 of file Message.cpp.

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.

Message * clearpath::Message::waitNext ( double timeout = 0.0 ) [static]

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 491 of file Message.cpp.

Friends And Related Function Documentation

friend class Transport [friend]

Definition at line 109 of file Message.h.

Member Data Documentation

const uint16_t clearpath::Message::CRC_INIT_VAL = 0xFFFF [static, protected]

Definition at line 83 of file Message.h.

const size_t clearpath::Message::CRC_LENGTH = 2 [static, protected]

Definition at line 82 of file Message.h.

uint8_t clearpath::Message::data[MAX_MSG_LENGTH] [protected]

Definition at line 101 of file Message.h.

const size_t clearpath::Message::HEADER_LENGTH = 12 [static, protected]

Definition at line 85 of file Message.h.

bool clearpath::Message::is_sent [protected]

Definition at line 107 of file Message.h.

const size_t clearpath::Message::MAX_MSG_LENGTH = 256 [static]

Definition at line 78 of file Message.h.

const size_t clearpath::Message::MIN_MSG_LENGTH = HEADER_LENGTH + CRC_LENGTH [static]

Definition at line 112 of file Message.h.

const uint8_t clearpath::Message::SOH = 0xAA [static]

Definition at line 113 of file Message.h.

const uint8_t clearpath::Message::STX = 0x55 [static]

Definition at line 114 of file Message.h.

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

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation