vesc_driver::VescPacketFactory Class Reference

#include <vesc_packet_factory.h>

Public Types
typedef std::function< VescPacketPtr(std::shared_ptr< VescFrame >)>	CreateFn

Public Member Functions
VescPacketFactory &	operator= (const VescPacketFactory &)=delete
	VescPacketFactory (const VescPacketFactory &)=delete

Static Public Member Functions
static VescPacketPtr	createPacket (const Buffer::const_iterator &begin, const Buffer::const_iterator &end, int *num_bytes_needed, std::string *what)
static VescPacketFactory *	getFactory ()
static void	registerPacketType (int payload_id, CreateFn fn)

Private Types
typedef std::map< int, CreateFn >	FactoryMap

Private Member Functions
	VescPacketFactory ()

Static Private Member Functions
static FactoryMap *	getMap ()

Detailed Description

Class for creating VESC packets from raw data.

Definition at line 46 of file vesc_packet_factory.h.

Member Typedef Documentation

typedef std::function<VescPacketPtr(std::shared_ptr<VescFrame>)> vesc_driver::VescPacketFactory::CreateFn

Definition at line 76 of file vesc_packet_factory.h.

typedef std::map<int, CreateFn > vesc_driver::VescPacketFactory::FactoryMap

private

Definition at line 89 of file vesc_packet_factory.h.

Constructor & Destructor Documentation

vesc_driver::VescPacketFactory::VescPacketFactory ( const VescPacketFactory &  )

delete

Delete copy constructor and equals operator.

vesc_driver::VescPacketFactory::VescPacketFactory ( )

private

Member Function Documentation

VescPacketPtr vesc_driver::VescPacketFactory::createPacket ( const Buffer::const_iterator &  begin, const Buffer::const_iterator &  end, int *  num_bytes_needed, std::string *  what  )

static

Create a VescPacket from a buffer (factory function). Packet must start (start of frame character) at begin and complete (end of frame character) before *p end. The buffer element at end is not examined, i.e. it can be the past-the-end element. Only returns a packet if the packet is valid, i.e. valid size, matching checksum, complete etc. An empty pointer is returned if a packet cannot be found or if it is invalid. If a valid packet is not found, optional output parameter is set to a string providing a reason why a packet was not found. If a packet was not found because additional bytes are needed on the buffer, optional output parameter num_bytes_needed will contain the number of bytes needed to either determine the size of the packet or complete the packet. Output parameters num_bytes_needed and what will be set to 0 and empty if a valid packet is found.

Parameters

begin[in]	Iterator to a buffer at the start-of-frame character
end[in]	Iterator to the buffer past-the-end element.
num_bytes_needed[out]	Number of bytes needed to determine the packet size or complete the frame.
what[out]	Human readable string giving a reason why the packet was not found.

Returns

Pointer to a valid VescPacket if successful. Otherwise, an empty pointer.

Definition at line 63 of file vesc_packet_factory.cpp.

static VescPacketFactory* vesc_driver::VescPacketFactory::getFactory ( )

static

Return the global factory object

VescPacketFactory::FactoryMap * vesc_driver::VescPacketFactory::getMap ( )

staticprivate

Construct map on first use

Definition at line 41 of file vesc_packet_factory.cpp.

VescPacketFactory& vesc_driver::VescPacketFactory::operator= ( const VescPacketFactory &  )

delete

void vesc_driver::VescPacketFactory::registerPacketType ( int  payload_id, CreateFn  fn  )

static

Register a packet type with the factory.

Definition at line 47 of file vesc_packet_factory.cpp.

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

• vesc_packet_factory.h
• vesc_packet_factory.cpp