Class for storing a single message. More...

#include <cmtmessage.h>

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. More...

	Message (const uint8_t *source, const uint16_t size, const uint16_t maxLength=CMT_MAXMSGLEN)
	Create a message from the given source string. More...

	Message (const Message &src)

	~Message ()
	Destructor. More...

void	clear (void)
	Clear all data in the message. More...

uint8_t	getBusId (void) const
	Return the current value of the m_busId field. More...

uint8_t *	getDataBuffer (const uint16_t offset=0)
	Return a pointer to the data buffer. More...

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). More...

double	getDataDouble (const uint16_t offset=0) const
	Return the current value of the data as a double (64 bits). More...

float	getDataFloat (const uint16_t offset=0) const
	Return the current value of the data as a float (32 bits). More...

double	getDataF1220 (const uint16_t offset=0) const
	Return the current value of the data as a double, converting it from FP 12.20. More...

double	getDataFP1632 (const uint16_t offset=0) const
	Return the current value of the data as a double, converting it from FP 16.32. More...

double	getDataFPValue (const uint64_t outputSettings, const uint16_t offset=0) const
	Return current data value as double, conversion depends on outputSettings. More...

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. More...

uint32_t	getDataLong (const uint16_t offset=0) const
	Return the current value of the data as an uint32_t (32 bits). More...

uint16_t	getDataShort (const uint16_t offset=0) const
	Return the current value of the data as an uint16_t (16 bits). More...

uint16_t	getDataSize (void) const
	Return the length of the data part of the message. More...

uint8_t	getMessageId (void) const
	Return the current value of the m_messageId field. More...

const uint8_t *	getMessageStart (void) const
	Return the start of the message buffer. More...

uint16_t	getTotalMessageSize (void) const
	Return the length of the message buffer. More...

bool	isChecksumOk (void) const
	Compute the checksum and compare it with the stored checksum. Equal is ok. More...

XsensResultValue	loadFromString (const uint8_t *source, const uint16_t size)
	Read the entire message from the given source string. More...

void	recomputeChecksum (void)
	Compute the checksum field and fill it. More...

void	resizeData (const uint16_t newSize)
	Resize the data area to the given size. More...

void	setBusId (const uint8_t busId)
	Set the new value of the m_busId field and update the checksum. More...

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. More...

void	setDataByte (const uint8_t data, const uint16_t offset=0)
	Write an unsigned byte (8 bits) into the data buffer. More...

void	setDataDouble (const double data, const uint16_t offset=0)
	Write a double (64 bits) into the data buffer. More...

void	setDataFloat (const float data, const uint16_t offset=0)
	Write a float (32 bits) into the data buffer. More...

void	setDataF1220 (const double data, const uint16_t offset=0)
	Write a double (64 bits) into the data buffer, after converting it to F1220. More...

void	setDataFP1632 (const double data, const uint16_t offset=0)
	Write a double (64 bits) into the data buffer, after converting it to FP1632. More...

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. More...

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. More...

void	setDataLong (const uint32_t data, const uint16_t offset=0)
	Write an uint32_t (32 bits) into the data buffer. More...

void	setDataShort (const uint16_t data, const uint16_t offset=0)
	Write an uint16_t (16 bits) into the data buffer. More...

void	setMessageId (const uint8_t msgId)
	Set the new value of the m_messageId field and update the checksum. More...

void	operator= (const Message &src)
	Copy message src into this. More...

void	deleteData (uint16_t size, uint16_t offset=0)
	Remove a number of bytes from the message (this will reduce the message size) More...

void	insertData (uint16_t size, uint16_t offset=0)
	Insert a number of bytes into the message (this will increase the message size) More...

Public Attributes
bool	m_autoUpdateChecksum

Protected Member Functions
uint8_t	calcChecksum (void) const
	Internal checksum computation. More...

uint8_t *	getDataStart (void) const
	Internal function to get the start of the data buffer. More...

Protected Attributes
MessageHeader *	m_buffer
	The message header is the data buffer with interpretation. More...

uint8_t *	m_checksum
	The checksum in the m_data or m_extendedData buffer. More...

uint32_t	m_maxLength
	The maximum size of the message, including header and footer. More...

Detailed Description

Class for storing a single message.

Constructor & Destructor Documentation

◆ Message() [1/3]

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.

◆ Message() [2/3]

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.

◆ Message() [3/3]

xsens::Message::Message ( const Message & src )

◆ ~Message()

xsens::Message::~Message ( )

Destructor.

Member Function Documentation

◆ calcChecksum()

uint8_t xsens::Message::calcChecksum ( void ) const

inlineprotected

Internal checksum computation.

◆ clear()

void xsens::Message::clear ( void )

Clear all data in the message.

◆ deleteData()

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)

◆ getBusId()

uint8_t xsens::Message::getBusId ( void ) const

inline

Return the current value of the m_busId field.

◆ getDataBuffer() [1/2]

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.

◆ getDataBuffer() [2/2]

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

inline

◆ getDataByte()

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.

◆ getDataDouble()

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.

◆ getDataF1220()

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.

◆ getDataFloat()

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.

◆ getDataFP1632()

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.

◆ getDataFPValue() [1/2]

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.

◆ getDataFPValue() [2/2]

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

◆ getDataLong()

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.

◆ getDataShort()

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.

◆ getDataSize()

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

Return the length of the data part of the message.

◆ getDataStart()

uint8_t * xsens::Message::getDataStart ( void ) const

protected

Internal function to get the start of the data buffer.

◆ getMessageId()

uint8_t xsens::Message::getMessageId ( void ) const

inline

Return the current value of the m_messageId field.

◆ getMessageStart()

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.

◆ getTotalMessageSize()

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.

◆ insertData()

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)

◆ isChecksumOk()

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

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

◆ loadFromString()

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

◆ operator=()

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

Copy message src into this.

◆ recomputeChecksum()

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.

◆ resizeData()

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

Resize the data area to the given size.

◆ setBusId()

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

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

◆ setDataBuffer()

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.

◆ setDataByte()

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.

◆ setDataDouble()

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.

◆ setDataF1220()

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.

◆ setDataFloat()

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.

◆ setDataFP1632()

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.

◆ setDataFPValue() [1/2]

void xsens::Message::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.

Parameters

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

◆ setDataFPValue() [2/2]

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

◆ setDataLong()

void xsens::Message::setDataLong	(	const uint32_t	data,
		const uint16_t	offset = `0`
	)

Write an uint32_t (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.

◆ setDataShort()

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

Write an uint16_t (16 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.

◆ setMessageId()

void xsens::Message::setMessageId ( const uint8_t msgId )

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

Member Data Documentation

◆ m_autoUpdateChecksum

bool xsens::Message::m_autoUpdateChecksum

◆ m_buffer

MessageHeader* xsens::Message::m_buffer

protected

The message header is the data buffer with interpretation.

◆ m_checksum

uint8_t* xsens::Message::m_checksum

protected

The checksum in the m_data or m_extendedData buffer.

◆ m_maxLength

uint32_t xsens::Message::m_maxLength

protected

The maximum size of the message, including header and footer.

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

/build/rock-master-18.09-drivers-xsens-imu-0.20180621/external/xsensVendorLib/cmtmessage.h
/build/rock-master-18.09-drivers-xsens-imu-0.20180621/external/xsensVendorLib/cmtmessage.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Message() [1/3]

◆ Message() [2/3]

◆ Message() [3/3]

◆ ~Message()

Member Function Documentation

◆ calcChecksum()

◆ clear()

◆ deleteData()

◆ getBusId()

◆ getDataBuffer() [1/2]

◆ getDataBuffer() [2/2]

◆ getDataByte()

◆ getDataDouble()

◆ getDataF1220()

◆ getDataFloat()

◆ getDataFP1632()

◆ getDataFPValue() [1/2]

◆ getDataFPValue() [2/2]

◆ getDataLong()

◆ getDataShort()

◆ getDataSize()

◆ getDataStart()

◆ getMessageId()

◆ getMessageStart()

◆ getTotalMessageSize()

◆ insertData()

◆ isChecksumOk()

◆ loadFromString()

◆ operator=()

◆ recomputeChecksum()

◆ resizeData()

◆ setBusId()

◆ setDataBuffer()

◆ setDataByte()

◆ setDataDouble()

◆ setDataF1220()

◆ setDataFloat()

◆ setDataFP1632()

◆ setDataFPValue() [1/2]

◆ setDataFPValue() [2/2]

◆ setDataLong()

◆ setDataShort()

◆ setMessageId()

Member Data Documentation

◆ m_autoUpdateChecksum

◆ m_buffer

◆ m_checksum

◆ m_maxLength