xsens::Message Class Reference

Class for storing a single message. More...

#include <Robots/SeaBeeIII/IMUDataServer/cmtmessage.h>

Collaboration diagram for xsens::Message:

Public Member Functions
	Message (const uint8_t msgId=0, const uint16_t length=0, const uint16_t maxLength=CMT_MAXMSGLEN)
	Create a Message object with the given data length and message Id.
	Message (const uint8_t *source, const uint16_t size, const uint16_t maxLength=CMT_MAXMSGLEN)
	Create a message from the given source string.
	Message (const Message &src)
	~Message ()
	Destructor.
void	clear (void)
	Clear all data in the message.
uint8_t	getBusId (void) const
	Return the current value of the m_busId field.
uint8_t *	getDataBuffer (const uint16_t offset=0)
	Return a pointer to the data buffer.
const uint8_t *	getDataBuffer (const uint16_t offset=0) const
uint8_t	getDataByte (const uint16_t offset=0) const
	Return the current value of the data as an unsigned byte (8 bits).
double	getDataDouble (const uint16_t offset=0) const
	Return the current value of the data as a double (64 bits).
float	getDataFloat (const uint16_t offset=0) const
	Return the current value of the data as a float (32 bits).
double	getDataF1220 (const uint16_t offset=0) const
	Return the current value of the data as a double, converting it from FP 12.20.
double	getDataFP1632 (const uint16_t offset=0) const
	Return the current value of the data as a double, converting it from FP 16.32.
double	getDataFPValue (const uint64_t outputSettings, const uint16_t offset=0) const
	Return current data value as double, conversion depends on outputSettings.
void	getDataFPValue (double *dest, const uint64_t outputSettings, uint16_t offset, const int16_t numValues) const
	Return current data values as double, conversion depends on outputSetting.
uint32_t	getDataLong (const uint16_t offset=0) const
	Return the current value of the data as an uint32_t (32 bits).
uint16_t	getDataShort (const uint16_t offset=0) const
	Return the current value of the data as an uint16_t (16 bits).
uint16_t	getDataSize (void) const
	Return the length of the data part of the message.
uint8_t	getMessageId (void) const
	Return the current value of the m_messageId field.
const uint8_t *	getMessageStart (void) const
	Return the start of the message buffer.
uint16_t	getTotalMessageSize (void) const
	Return the length of the message buffer.
bool	isChecksumOk (void) const
	Compute the checksum and compare it with the stored checksum. Equal is ok.
XsensResultValue	loadFromString (const uint8_t *source, const uint16_t size)
	Read the entire message from the given source string.
void	recomputeChecksum (void)
	Compute the checksum field and fill it.
void	resizeData (const uint16_t newSize)
	Resize the data area to the given size.
void	setBusId (const uint8_t busId)
	Set the new value of the m_busId field and update the checksum.
void	setDataBuffer (const uint8_t *data, const uint16_t offset=0, const uint16_t count=0)
	Write a string of bytes into the data buffer.
void	setDataByte (const uint8_t data, const uint16_t offset=0)
	Write an unsigned byte (8 bits) into the data buffer.
void	setDataDouble (const double data, const uint16_t offset=0)
	Write a double (64 bits) into the data buffer.
void	setDataFloat (const float data, const uint16_t offset=0)
	Write a float (32 bits) into the data buffer.
void	setDataF1220 (const double data, const uint16_t offset=0)
	Write a double (64 bits) into the data buffer, after converting it to F1220.
void	setDataFP1632 (const double data, const uint16_t offset=0)
	Write a double (64 bits) into the data buffer, after converting it to FP1632.
void	setDataFPValue (const uint64_t outputSettings, const double data, const uint16_t offset=0)
	Write a floating/fixed point value into to the data buffer, conversion depends on outputSettings.
void	setDataFPValue (const uint64_t outputSettings, const double *data, uint16_t offset, const uint16_t numValues)
	Write a floating/fixed point value into to the data buffer, conversion depends on outputSettings.
void	setDataLong (const uint32_t data, const uint16_t offset=0)
	Write an uint32_t (32 bits) into the data buffer.
void	setDataShort (const uint16_t data, const uint16_t offset=0)
	Write an uint16_t (16 bits) into the data buffer.
void	setMessageId (const uint8_t msgId)
	Set the new value of the m_messageId field and update the checksum.
void	operator= (const Message &src)
	Copy message src into this.
void	deleteData (uint16_t size, uint16_t offset=0)
	Remove a number of bytes from the message (this will reduce the message size).
void	insertData (uint16_t size, uint16_t offset=0)
	Insert a number of bytes into the message (this will increase the message size).
Public Attributes
bool	m_autoUpdateChecksum
Protected Member Functions
uint8_t	calcChecksum (void) const
	Internal checksum computation.
uint8_t *	getDataStart (void) const
	Internal function to get the start of the data buffer.
Protected Attributes
MessageHeader *	m_buffer
	The message header is the data buffer with interpretation.
uint8_t *	m_checksum
	The checksum in the m_data or m_extendedData buffer.
uint32_t	m_maxLength
	The maximum size of the message, including header and footer.

Detailed Description

Class for storing a single message.

Definition at line 76 of file cmtmessage.h.

Constructor & Destructor Documentation

xsens::Message::Message	(	const uint8_t	msgId = `0`,
		const uint16_t	length = `0`,
		const uint16_t	maxLength = `CMT_MAXMSGLEN`
	)

Create a Message object with the given data length and message Id.

The function allocates enough memory to hold an entire message with the given data length.

Parameters:

	msgId	The message Id that will be assigend to the m_messageId field.
	length	The length of the data in the message. This value is stored in `m_createdLength` as well as `m_length` or `m_extendedLength`.
	maxLength	The maximum data length that can be stored in the structure.

Definition at line 36 of file cmtmessage.cpp.

References m_buffer, m_checksum, and m_maxLength.

xsens::Message::Message	(	const uint8_t *	source,
		const uint16_t	size,
		const uint16_t	maxLength = `CMT_MAXMSGLEN`
	)

Create a message from the given source string.

This is done through a simple memory copy. The number of bytes copied is taken from the data in the message (so the message is interpreted first). Note that this does NOT recompute the checksum, nor is it checked.

Parameters:

	source	The source string containing message data
	size	The size of the source string
	maxLength	The maximum data length that can be stored in the structure.

Definition at line 73 of file cmtmessage.cpp.

References m_buffer, m_checksum, and m_maxLength.

xsens::Message::~Message ( )

Destructor.

Definition at line 117 of file cmtmessage.cpp.

References m_buffer.

Member Function Documentation

uint8_t xsens::Message::calcChecksum ( void ) const [inline, protected]

Internal checksum computation.

Definition at line 87 of file cmtmessage.h.

References xsens::computeChecksum(), getTotalMessageSize(), and m_buffer.

Referenced by isChecksumOk(), loadFromString(), and recomputeChecksum().

void xsens::Message::clear ( void )

Clear all data in the message.

Definition at line 125 of file cmtmessage.cpp.

References m_buffer, m_checksum, and m_maxLength.

Referenced by xsens::Cmt2f::readMessage(), and xsens::Cmt2s::waitForMessage().

void xsens::Message::deleteData	(	uint16_t	size,
		uint16_t	offset = `0`
	)

Remove a number of bytes from the message (this will reduce the message size).

Definition at line 693 of file cmtmessage.cpp.

References getDataBuffer(), getDataSize(), and resizeData().

uint8_t xsens::Message::getBusId ( void ) const [inline]

Return the current value of the m_busId field.

Definition at line 127 of file cmtmessage.h.

References m_buffer.

uint8_t* xsens::Message::getDataBuffer ( const uint16_t offset = 0 ) [inline]

Return a pointer to the data buffer.

Parameters:

offset

An optional offset in the data buffer from where to start reading.

Definition at line 132 of file cmtmessage.h.

References getDataStart().

Referenced by deleteData(), xsens::Cmt3::getConfiguration(), xsens::Cmt3::getEMtsData(), xsens::Cmt3::getProductCode(), xsens::Packet::getRawData(), and insertData().

uint8_t xsens::Message::getDataByte ( const uint16_t offset = 0 ) const [inline]

Return the current value of the data as an unsigned byte (8 bits).

Parameters:

offset

An optional offset in the data buffer from where to start reading.

Definition at line 140 of file cmtmessage.h.

References getDataStart().

Referenced by xsens::Cmt3::getEMtsData(), xsens::Cmt3::getFirmwareRevision(), xsens::Packet::getGpsPvtData(), xsens::Packet::getRawPressureData(), xsens::Cmt3::getSerialBaudrate(), xsens::Packet::getStatus(), xsens::Cmt3::getSyncMode(), xsens::Packet::getUtcTime(), xsens::Cmt3::getUtcTime(), xsens::Cmt3::getXmOutputMode(), xsens::Cmt3::gotoConfig(), xsens::Cmt3::readDataPacket(), xsens::Cmt3::setGpsLeverArm(), xsens::Cmt3::setLatLonAlt(), xsens::Cmt3::setObjectAlignmentMatrix(), xsens::Cmt3::storeXkfState(), and xsens::Cmt3::waitForDataMessage().

double xsens::Message::getDataDouble ( const uint16_t offset = 0 ) const

Return the current value of the data as a double (64 bits).

Parameters:

offset

An optional offset in the data buffer from where to start reading.

Definition at line 136 of file cmtmessage.cpp.

References getDataStart().

Referenced by getDataFPValue().

double xsens::Message::getDataF1220 ( const uint16_t offset = 0 ) const

Return the current value of the data as a double, converting it from FP 12.20.

Parameters:

offset

An optional offset in the data buffer from where to start reading.

Definition at line 164 of file cmtmessage.cpp.

References getDataStart().

Referenced by getDataFPValue().

float xsens::Message::getDataFloat ( const uint16_t offset = 0 ) const

Return the current value of the data as a float (32 bits).

Parameters:

offset

An optional offset in the data buffer from where to start reading.

Definition at line 149 of file cmtmessage.cpp.

References getDataStart().

Referenced by getDataFPValue(), xsens::Cmt3::getHeading(), xsens::Cmt3::getLatLonAlt(), xsens::Cmt3::getMagneticDeclination(), and xsens::Cmt3::getObjectAlignmentMatrix().

double xsens::Message::getDataFP1632 ( const uint16_t offset = 0 ) const

Return the current value of the data as a double, converting it from FP 16.32.

Parameters:

offset

An optional offset in the data buffer from where to start reading.

Definition at line 200 of file cmtmessage.cpp.

References getDataStart().

Referenced by getDataFPValue().

void xsens::Message::getDataFPValue	(	double *	dest,
		const uint64_t	outputSettings,
		uint16_t	offset,
		const int16_t	numValues
	)			const

Return current data values as double, conversion depends on outputSetting.

Parameters:

	dest	destination array
	outputSettings	MT output settings
	offset	offset in the data buffer from where to start reading.
	numValues	number of values to be read

Definition at line 249 of file cmtmessage.cpp.

References getDataDouble(), getDataF1220(), getDataFloat(), and getDataFP1632().

double xsens::Message::getDataFPValue	(	const uint64_t	outputSettings,
		const uint16_t	offset = `0`
	)			const

Return current data value as double, conversion depends on outputSettings.

Parameters:

	outputSettings	MT output settings
	offset	An optional offset in the data buffer from where to start reading.

Definition at line 227 of file cmtmessage.cpp.

References getDataDouble(), getDataF1220(), getDataFloat(), and getDataFP1632().

Referenced by xsens::Packet::getAccG(), xsens::Packet::getCalAcc(), xsens::Packet::getCalData(), xsens::Packet::getCalGyr(), xsens::Packet::getCalMag(), xsens::Packet::getOriEuler(), xsens::Packet::getOriMatrix(), xsens::Packet::getOriQuat(), xsens::Packet::getPositionLLA(), xsens::Packet::getTemp(), and xsens::Packet::getVelocity().

uint32_t xsens::Message::getDataLong ( const uint16_t offset = 0 ) const

Return the current value of the data as an uint32_t (32 bits).

Parameters:

offset

An optional offset in the data buffer from where to start reading.

Definition at line 278 of file cmtmessage.cpp.

References getDataStart().

Referenced by xsens::Packet::getGpsPvtData(), xsens::Cmt3::getSyncInOffset(), xsens::Cmt3::getSyncInSettings(), xsens::Cmt3::getSyncOutOffset(), xsens::Cmt3::getSyncOutPulseWidth(), xsens::Cmt3::getSyncOutSettings(), xsens::Packet::getUtcTime(), and xsens::Cmt3::getUtcTime().

uint16_t xsens::Message::getDataShort ( const uint16_t offset = 0 ) const

Return the current value of the data as an uint16_t (16 bits).

Parameters:

offset

An optional offset in the data buffer from where to start reading.

Definition at line 293 of file cmtmessage.cpp.

References getDataStart().

Referenced by xsens::Packet::getAnalogIn1(), xsens::Packet::getAnalogIn2(), xsens::Packet::getGpsPvtData(), xsens::Cmt3::getLocationId(), xsens::Cmt3::getProcessingFlags(), xsens::Packet::getRawAcc(), xsens::Packet::getRawGyr(), xsens::Packet::getRawMag(), xsens::Packet::getRawPressureData(), xsens::Packet::getRawTemp(), xsens::Packet::getSampleCounter(), xsens::Cmt3::getSyncInMode(), xsens::Cmt3::getSyncInSettings(), xsens::Cmt3::getSyncInSkipFactor(), xsens::Cmt3::getSyncOutMode(), xsens::Cmt3::getSyncOutSettings(), xsens::Cmt3::getSyncOutSkipFactor(), xsens::Cmt3::getTransmissionDelay(), xsens::Packet::getUtcTime(), and xsens::Cmt3::getUtcTime().

uint16_t xsens::Message::getDataSize ( void ) const

Return the length of the data part of the message.

Definition at line 306 of file cmtmessage.cpp.

References m_buffer.

uint8_t * xsens::Message::getDataStart ( void ) const [protected]

Internal function to get the start of the data buffer.

Definition at line 316 of file cmtmessage.cpp.

References m_buffer.

Referenced by getDataBuffer(), getDataByte(), getDataDouble(), getDataF1220(), getDataFloat(), getDataFP1632(), getDataLong(), getDataShort(), setDataBuffer(), setDataByte(), setDataDouble(), setDataFloat(), setDataFP1632(), setDataLong(), and setDataShort().

uint8_t xsens::Message::getMessageId ( void ) const [inline]

Return the current value of the m_messageId field.

Definition at line 189 of file cmtmessage.h.

References m_buffer.

Referenced by xsens::Cmt3::getEMtsData(), xsens::Cmt3::gotoConfig(), xsens::Cmt3::peekLogMessageId(), xsens::Cmt3::readDataPacket(), xsens::Cmt2f::readMessage(), xsens::Cmt3::setGpsLeverArm(), xsens::Cmt3::setLatLonAlt(), xsens::Cmt3::setObjectAlignmentMatrix(), xsens::Cmt3::storeXkfState(), xsens::Cmt3::waitForDataMessage(), and xsens::Cmt2s::waitForMessage().

const uint8_t* xsens::Message::getMessageStart ( void ) const [inline]

Return the start of the message buffer.

The function returns the address of the m_preamble member.

Definition at line 194 of file cmtmessage.h.

References m_buffer.

Referenced by xsens::Cmt2s::readMessage(), xsens::Cmt3::refreshCache(), xsens::Cmt2f::writeMessage(), and xsens::Cmt2s::writeMessage().

uint16_t xsens::Message::getTotalMessageSize ( void ) const

Return the length of the message buffer.

The function returns the total size of the message, including the checksum. This is in effect the number of bytes that would be transferred if the message were to be sent over a communications channel.

Definition at line 328 of file cmtmessage.cpp.

References m_buffer.

Referenced by calcChecksum(), isChecksumOk(), xsens::Cmt2f::writeMessage(), and xsens::Cmt2s::writeMessage().

void xsens::Message::insertData	(	uint16_t	size,
		uint16_t	offset = `0`
	)

Insert a number of bytes into the message (this will increase the message size).

Definition at line 718 of file cmtmessage.cpp.

References getDataBuffer(), getDataSize(), and resizeData().

bool xsens::Message::isChecksumOk ( void ) const

Compute the checksum and compare it with the stored checksum. Equal is ok.

Definition at line 337 of file cmtmessage.cpp.

References calcChecksum(), getTotalMessageSize(), m_checksum, and m_maxLength.

XsensResultValue xsens::Message::loadFromString	(	const uint8_t *	source,
		const uint16_t	size
	)

Read the entire message from the given source string.

This is done through a simple memory copy. The number of bytes copied is m_createdLength.

Parameters:

	source	The source string containing message data
	size	The size of the source string

Definition at line 346 of file cmtmessage.cpp.

References calcChecksum(), m_buffer, m_checksum, and m_maxLength.

Referenced by xsens::Cmt2f::readMessage(), xsens::Cmt2s::readMessage(), and xsens::Cmt2s::waitForMessage().

void xsens::Message::operator= ( const Message & src )

Copy message src into this.

Definition at line 678 of file cmtmessage.cpp.

References m_buffer, m_checksum, and m_maxLength.

void xsens::Message::recomputeChecksum ( void ) [inline]

Compute the checksum field and fill it.

The checksum field should normally be correct at all times, but if you have somehow managed to mess it up, this function can be used to recompute it.

Definition at line 218 of file cmtmessage.h.

References calcChecksum(), and m_checksum.

Referenced by xsens::Cmt3::getConfiguration(), and resizeData().

void xsens::Message::resizeData ( const uint16_t newSize )

Resize the data area to the given size.

Definition at line 385 of file cmtmessage.cpp.

References m_buffer, m_checksum, m_maxLength, and recomputeChecksum().

void xsens::Message::setBusId ( const uint8_t busId )

Set the new value of the m_busId field and update the checksum.

Definition at line 450 of file cmtmessage.cpp.

References m_buffer, and m_checksum.

void xsens::Message::setDataBuffer	(	const uint8_t *	data,
		const uint16_t	offset = `0`,
		const uint16_t	count = `0`
	)

Write a string of bytes into the data buffer.

Parameters:

	data	The data to write to the buffer.
	offset	An optional offset in the data buffer from where to start writing.
	count	An optional number of bytes to write, if set to 0 (not set), as many bytes as will fit into the buffer from the given point will be written.

Definition at line 459 of file cmtmessage.cpp.

References getDataSize(), getDataStart(), m_checksum, and resizeData().

Referenced by xsens::Cmt3::getEMtsData().

void xsens::Message::setDataByte	(	const uint8_t	data,
		const uint16_t	offset = `0`
	)

Write an unsigned byte (8 bits) into the data buffer.

Parameters:

	data	The data to write to the buffer.
	offset	An optional offset in the data buffer from where to start writing.

Definition at line 478 of file cmtmessage.cpp.

References getDataSize(), getDataStart(), m_checksum, and resizeData().

Referenced by xsens::Cmt3::getConfiguration(), xsens::Cmt3::getEMtsData(), xsens::Cmt3::getSyncInMode(), xsens::Cmt3::getSyncInOffset(), xsens::Cmt3::getSyncInSettings(), xsens::Cmt3::getSyncInSkipFactor(), xsens::Cmt3::getSyncOutMode(), xsens::Cmt3::getSyncOutOffset(), xsens::Cmt3::getSyncOutPulseWidth(), xsens::Cmt3::getSyncOutSettings(), xsens::Cmt3::getSyncOutSkipFactor(), xsens::Cmt3::setSyncInMode(), xsens::Cmt3::setSyncInOffset(), xsens::Cmt3::setSyncInSettings(), xsens::Cmt3::setSyncInSkipFactor(), xsens::Cmt3::setSyncOutMode(), xsens::Cmt3::setSyncOutOffset(), xsens::Cmt3::setSyncOutPulseWidth(), xsens::Cmt3::setSyncOutSettings(), xsens::Cmt3::setSyncOutSkipFactor(), xsens::Packet::updateGpsPvtData(), xsens::Packet::updateRawPressureData(), xsens::Packet::updateStatus(), and xsens::Packet::updateUtcTime().

void xsens::Message::setDataDouble	(	const double	data,
		const uint16_t	offset = `0`
	)

Write a double (64 bits) into the data buffer.

Parameters:

	data	The data to write to the buffer.
	offset	An optional offset in the data buffer from where to start writing.

Definition at line 490 of file cmtmessage.cpp.

References getDataSize(), getDataStart(), m_checksum, and resizeData().

Referenced by setDataFPValue().

void xsens::Message::setDataF1220	(	const double	data,
		const uint16_t	offset = `0`
	)

Write a double (64 bits) into the data buffer, after converting it to F1220.

Parameters:

	data	The data to write to the buffer.
	offset	An optional offset in the data buffer from where to start writing.

Definition at line 528 of file cmtmessage.cpp.

References setDataLong().

Referenced by setDataFPValue().

void xsens::Message::setDataFloat	(	const float	data,
		const uint16_t	offset = `0`
	)

Write a float (32 bits) into the data buffer.

Parameters:

	data	The data to write to the buffer.
	offset	An optional offset in the data buffer from where to start writing.

Definition at line 509 of file cmtmessage.cpp.

References getDataSize(), getDataStart(), m_checksum, and resizeData().

Referenced by setDataFPValue(), xsens::Cmt3::setGpsLeverArm(), xsens::Cmt3::setLatLonAlt(), and xsens::Cmt3::setObjectAlignmentMatrix().

void xsens::Message::setDataFP1632	(	const double	data,
		const uint16_t	offset = `0`
	)

Write a double (64 bits) into the data buffer, after converting it to FP1632.

Parameters:

	data	The data to write to the buffer.
	offset	An optional offset in the data buffer from where to start writing.

Definition at line 536 of file cmtmessage.cpp.

References getDataSize(), getDataStart(), and resizeData().

Referenced by setDataFPValue().

void xsens::Message::setDataFPValue	(	const uint64_t	outputSettings,
		const double *	data,
		uint16_t	offset,
		const uint16_t	numValues
	)

Write a floating/fixed point value into to the data buffer, conversion depends on outputSettings.

Parameters:

	outputSettings	MT output settings
	data	The data array to be written to the buffer.
	offset	Offset in the data buffer from where to start writing.
	numValues	number of values to be written