Class Message

• Defined in File Message.h

Inheritance Relationships

Derived Types

• public clearpath::CmdMessage (Class CmdMessage)

• public clearpath::DataAckermannOutput (Class DataAckermannOutput)

• public clearpath::DataDifferentialControl (Class DataDifferentialControl)

• public clearpath::DataDifferentialOutput (Class DataDifferentialOutput)

• public clearpath::DataDifferentialSpeed (Class DataDifferentialSpeed)

• public clearpath::DataEcho (Class DataEcho)

• public clearpath::DataEncoders (Class DataEncoders)

• public clearpath::DataEncodersRaw (Class DataEncodersRaw)

• public clearpath::DataFirmwareInfo (Class DataFirmwareInfo)

• public clearpath::DataGear (Class DataGear)

• public clearpath::DataMaxAcceleration (Class DataMaxAcceleration)

• public clearpath::DataMaxSpeed (Class DataMaxSpeed)

• public clearpath::DataPlatformAcceleration (Class DataPlatformAcceleration)

• public clearpath::DataPlatformInfo (Class DataPlatformInfo)

• public clearpath::DataPlatformMagnetometer (Class DataPlatformMagnetometer)

• public clearpath::DataPlatformName (Class DataPlatformName)

• public clearpath::DataPlatformOrientation (Class DataPlatformOrientation)

• public clearpath::DataPlatformRotation (Class DataPlatformRotation)

• public clearpath::DataPowerSystem (Class DataPowerSystem)

• public clearpath::DataProcessorStatus (Class DataProcessorStatus)

• public clearpath::DataRangefinderTimings (Class DataRangefinderTimings)

• public clearpath::DataRangefinders (Class DataRangefinders)

• public clearpath::DataRawAcceleration (Class DataRawAcceleration)

• public clearpath::DataRawCurrent (Class DataRawCurrent)

• public clearpath::DataRawGyro (Class DataRawGyro)

• public clearpath::DataRawMagnetometer (Class DataRawMagnetometer)

• public clearpath::DataRawOrientation (Class DataRawOrientation)

• public clearpath::DataRawTemperature (Class DataRawTemperature)

• public clearpath::DataRawVoltage (Class DataRawVoltage)

• public clearpath::DataSafetySystemStatus (Class DataSafetySystemStatus)

• public clearpath::DataSystemStatus (Class DataSystemStatus)

• public clearpath::DataVelocity (Class DataVelocity)

• public clearpath::Request (Class Request)

Class Documentation

class Message

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

Public Functions

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 ~Message()

void send()

uint8_t getLength()

uint8_t getLengthComp()

uint8_t getVersion()

uint32_t getTimestamp()

uint8_t getFlags()

uint16_t getType()

uint16_t getChecksum()

inline size_t getPayloadLength()

size_t getPayload(void *buf, size_t max_size)

inline size_t getTotalLength()

size_t toBytes(void *buf, size_t buf_size)

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

inline bool isCommand()

inline bool isRequest()

inline bool isData()

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

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

Public Static Functions

static Message *factory(void *input, size_t msg_len)

static Message *popNext()

static Message *waitNext(double timeout = 0.0)

Public Static 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

Values:

enumerator SOH_OFST

enumerator LENGTH_OFST

enumerator LENGTH_COMP_OFST

enumerator VERSION_OFST

enumerator TIMESTAMP_OFST

enumerator FLAGS_OFST

enumerator TYPE_OFST

enumerator STX_OFST

enumerator PAYLOAD_OFST

Protected Functions

inline size_t crcOffset()

void setLength(uint8_t len)

void setVersion(uint8_t version)

void setTimestamp(uint32_t timestamp)

void setFlags(uint8_t flags)

void setType(uint16_t type)

uint8_t *getPayloadPointer(size_t offset = 0)

void setPayload(void *buf, size_t buf_size)

void setPayloadLength(uint8_t len)

void makeValid()

Protected Attributes

uint8_t data[MAX_MSG_LENGTH]

size_t total_len

bool is_sent

Protected Static Attributes

static const size_t CRC_LENGTH = 2

static const uint16_t CRC_INIT_VAL = 0xFFFF

static const size_t HEADER_LENGTH = 12

Friends

friend class Transport