Class to hold a command to send or a command to decode. More...
#include <UbloxGPS.h>
Inheritance diagram for UbloxCommand< PAYLOAD_SIZE >:
Public Member Functions | |
| UbloxCommand () | |
| Constructs a command buffer of BUFFER_SIZE bytes. More... | |
 Public Member Functions inherited from UbloxCommandBase | |
| UbloxCommandBase (uint8_t *buffer, size_t bufferSize) | |
| Construct a UbloxCommandBase object. Normally you'd use UbloxCommand instead, which handles the buffer management for you. More... | |
| virtual | ~UbloxCommandBase () |
| Destructor. | |
| bool | decode (char ch) |
| Decode a single character. More... | |
| void | discardToNextSync1 () |
| Used internally to discard invalid data. You probably won't need to call this. | |
| void | updateChecksum () |
| When preparing a command to send, updates the checksum, sync, and length bytes. More... | |
| void | calculateChecksum (uint8_t &ckA, uint8_t &ckB) const |
| Calculates the checksum based on the data in the buffer. More... | |
| void | addHandler (UbloxMessageHandler *handler) |
| Add a message handler. More... | |
| void | removeHandler (UbloxMessageHandler *handler) |
| Remove a message handler. More... | |
| void | callHandlers () |
| Used internally to call all of the message handlers that match this class and id. | |
| uint8_t | getMsgClass () const |
| Gets the message class of the current command. More... | |
| uint8_t | getMsgId () const |
| Gets the message ID of the current command. More... | |
| void | setClassId (uint8_t msgClass, uint8_t msgId) |
| When sending a message, sets the message class and ID. More... | |
| size_t | getPayloadLen () const |
| Gets the payload length, the number of bytes available from getData() | |
| const uint8_t * | getData () const |
| Get a const pointer to the data payload. More... | |
| bool | getData (size_t offset, void *data, size_t dataLen) const |
| Copies data from the buffer. More... | |
| bool | setData (size_t offset, const void *data, size_t dataLen) |
| Set data in the buffer. More... | |
| bool | appendData (const void *data, size_t dataLen) |
| Appends data into the buffer at the current payloadLen. More... | |
| bool | fillData (uint8_t value, size_t dataLen) |
| Works like appendData(), but fill with a value instead. More... | |
| uint8_t | getU1 (size_t offset) const |
| Get a uint8_t value at offset. More... | |
| bool | setU1 (size_t offset, uint8_t value) |
| Set a uint8_t value at offset in the payload. More... | |
| bool | appendU1 (uint8_t value) |
| Append a uint8_t value to the current end of the payload. More... | |
| int8_t | getI1 (size_t offset) const |
| Get a int8_t value (signed) at offset. More... | |
| bool | setI1 (size_t offset, int8_t value) |
| Set a int8_t value at offset in the payload. More... | |
| bool | appendI1 (int8_t value) |
| Append a int8_t value to the current end of the payload. More... | |
| uint16_t | getU2 (size_t offset) const |
| Get a uint16_t value (little endian) at offset. More... | |
| bool | setU2 (size_t offset, uint16_t value) |
| Set a uint16_t value at offset in the payload. More... | |
| bool | appendU2 (uint16_t value) |
| Append a uint16_t value to the current end of the payload. More... | |
| int16_t | getI2 (size_t offset) const |
| Get a int16_t value (little endian, signed) at offset. More... | |
| bool | setI2 (size_t offset, int16_t value) |
| Set an int16_t value at offset in the payload. More... | |
| bool | appendI2 (int16_t value) |
| Append an int16_t value to the current end of the payload. More... | |
| uint32_t | getU4 (size_t offset) const |
| Get a uint32_t value (little endian, 4 bytes) at offset. More... | |
| bool | setU4 (size_t offset, uint32_t value) |
| Set a uint32_t value at offset in the payload. More... | |
| bool | appendU4 (uint32_t value) |
| Append a uint32_t value to the current end of the payload. More... | |
| int32_t | getI4 (size_t offset) const |
| Get a int32_t value (little endian, 4 bytes, signed) at offset. More... | |
| bool | setI4 (size_t offset, int32_t value) |
| Set an int16_t value at offset in the payload. More... | |
| bool | appendI4 (int32_t value) |
| Append a int32_t value to the current end of the payload. More... | |
| float | getR4 (size_t offset) const |
| Get a float value (4 bytes) at offset. More... | |
| bool | setR4 (size_t offset, float value) |
| Set an float (4 byte floating point) value at offset in the payload. More... | |
| bool | appendR4 (float value) |
| Append a float (4 byte floating point) value to the current end of the payload. More... | |
| double | getR8 (size_t offset) const |
| Get a double value (8 bytes) at offset. More... | |
| bool | setR8 (size_t offset, double value) |
| Set an double (8 byte floating point) value at offset in the payload. More... | |
| bool | appendR8 (double value) |
| Append a double (8 byte floating point) value to the current end of the payload. More... | |
| const uint8_t * | getBuffer () const |
| Get a pointer to the buffer, typically to send data. More... | |
| size_t | getSendLength () const |
| Get the length of the data, typically to send it. More... | |
Additional Inherited Members | |
| Protected Types inherited from UbloxCommandBase | |
| enum | State { State::LOOKING_FOR_START, State::LOOKING_FOR_LENGTH, State::LOOKING_FOR_MESSAGE } |
| u-blox parsing state constants More... | |
| Protected Attributes inherited from UbloxCommandBase | |
| uint8_t * | buffer |
| Buffer to hold data (received data or data for composing a packet to send) | |
| size_t | bufferSize |
| Size of the buffer. Maximum payload is bufferSize - HEADER_PLUS_CRC_LEN. | |
| size_t | bufferOffset = 0 |
| Current offset being written to in buffer when using encode() | |
| size_t | payloadLen = 0 |
| Length of the data payload (0 = no data). This does not include the header or CRC. | |
| State | state = State::LOOKING_FOR_START |
| Current parsing state. | |
| std::vector< UbloxMessageHandler * > | handlers |
| Vector of message handler objects, contains filter and callback function to handle incoming messages. | |
| Static Protected Attributes inherited from UbloxCommandBase | |
| static const uint8_t | SYNC_1 = 0xb5 |
| value of the first sync byte at buffer[0] | |
| static const uint8_t | SYNC_2 = 0x62 |
| value of the second sync byte at buffer[1] | |
| static const size_t | CLASS_OFFSET = 2 |
| offset in buffer where the message class is stored | |
| static const size_t | ID_OFFSET = 3 |
| offset in buffer where the message ID is stored | |
| static const size_t | DATA_OFFSET = 6 |
| offset in buffer where data begins (after sync, class, id, and length) | |
| static const size_t | HEADER_PLUS_CRC_LEN = 8 |
| size of the header data (6 bytes) plus CRC (2 bytes). Minimum size of a valid packet with 0 bytes of payload data. | |
| static const size_t | CRC_START_OFFSET = 2 |
| offset in buffer where the CRC calculation starts (does not include sync bytes) | |
| static const size_t | CRC_HEADER_LEN = 4 |
| number of header bytes included in the CRC. The total CRC length is this plus payloadLen. | |
Detailed Description
template<size_t PAYLOAD_SIZE>
class UbloxCommand< PAYLOAD_SIZE >
Class to hold a command to send or a command to decode.
It's a templated to specify the size of the buffer. The value is the size of the payload; the actual buffer will be HEADER_PLUS_CRC_LEN more.
Constructor & Destructor Documentation
◆ UbloxCommand()
template<size_t PAYLOAD_SIZE>
|
inlineexplicit |
Constructs a command buffer of BUFFER_SIZE bytes.
Must be a minimum of HEADER_PLUS_CRC_LEN bytes.
The documentation for this class was generated from the following file:
- src/UbloxGPS.h
