ncom::packet_t Class Reference

#include <ncom_packet.H>

List of all members.

Public Types

enum  nav_status_t {
  NAV_STATUS_INVALID, NAV_STATUS_RAW_IMU, NAV_STATUS_INTIALIZING, NAV_STATUS_LOCKING,
  NAV_STATUS_LOCKED
}

Public Member Functions

 packet_t ()
 packet_t (packet_t const *packet)
unsigned decode (unsigned char const *buf, unsigned buf_size)
bool valid (void) const
unsigned stx (void) const
double time (void) const
double x_acceleration (void) const
double y_acceleration (void) const
double z_acceleration (void) const
double x_angular_rate (void) const
double y_angular_rate (void) const
double z_angular_rate (void) const
nav_status_t nav_status (void) const
unsigned checksum_1 (void) const
double latitude (void) const
double longitude (void) const
double altitude (void) const
double n_velocity (void) const
double e_velocity (void) const
double d_velocity (void) const
double heading (void) const
double pitch (void) const
double roll (void) const
unsigned checksum_2 (void) const
unsigned channel (void) const
unsigned char const * channel_data (void) const
unsigned checksum_3 (void) const

Static Public Attributes

static unsigned const STX = 0xE7

Static Protected Member Functions

static unsigned calc_crc (unsigned char const *data, unsigned size)
static unsigned skip_to_stx (unsigned char const *data, unsigned size)

Protected Attributes

bool m_valid
unsigned char const * m_data

Static Protected Attributes

static unsigned const PACKET_SIZE = 72
static unsigned const STX_OFFSET = 0
static unsigned const TIME_OFFSET = 1
static unsigned const X_ACCELERATION_OFFSET = 3
static unsigned const Y_ACCELERATION_OFFSET = 6
static unsigned const Z_ACCELERATION_OFFSET = 9
static unsigned const X_ANGULAR_RATE_OFFSET = 12
static unsigned const Y_ANGULAR_RATE_OFFSET = 15
static unsigned const Z_ANGULAR_RATE_OFFSET = 18
static unsigned const NAV_STATUS_OFFSET = 21
static unsigned const CHECKSUM_1_OFFSET = 22
static unsigned const LATITUDE_OFFSET = 23
static unsigned const LONGITUDE_OFFSET = 31
static unsigned const ALTITUDE_OFFSET = 39
static unsigned const N_VELOCITY_OFFSET = 43
static unsigned const E_VELOCITY_OFFSET = 46
static unsigned const D_VELOCITY_OFFSET = 49
static unsigned const HEADING_OFFSET = 52
static unsigned const PITCH_OFFSET = 55
static unsigned const ROLL_OFFSET = 58
static unsigned const CHECKSUM_2_OFFSET = 61
static unsigned const CHANNEL_OFFSET = 62
static unsigned const CHANNEL_DATA_OFFSET = 63
static unsigned const CHECKSUM_3_OFFSET = 71

Member Enumeration Documentation

enum ncom::packet_t::nav_status_t
Enumerator:
NAV_STATUS_INVALID 
NAV_STATUS_RAW_IMU 
NAV_STATUS_INTIALIZING 
NAV_STATUS_LOCKING 
NAV_STATUS_LOCKED 

Constructor & Destructor Documentation

packet_t::packet_t (  ) 
packet_t::packet_t ( packet_t const *  packet  ) 

Member Function Documentation

double ncom::packet_t::altitude ( void   )  const [inline]

References ALTITUDE_OFFSET, and m_data.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

unsigned packet_t::calc_crc ( unsigned char const *  data,
unsigned  size 
) [static, protected]

Referenced by decode().

unsigned ncom::packet_t::channel ( void   )  const [inline]

References CHANNEL_OFFSET, and m_data.

Referenced by ncom::channel_0_t::channel_0_t(), ncom::channel_16_t::channel_16_t(), ncom::channel_3_t::channel_3_t(), ncom::channel_5_t::channel_5_t(), cajun::rt3k_udp_t::decode_packet(), and packet_printer().

unsigned char const* ncom::packet_t::channel_data ( void   )  const [inline]

References CHANNEL_DATA_OFFSET, and m_data.

unsigned ncom::packet_t::checksum_1 ( void   )  const [inline]

References CHECKSUM_1_OFFSET, and m_data.

unsigned ncom::packet_t::checksum_2 ( void   )  const [inline]

References CHECKSUM_2_OFFSET, and m_data.

unsigned ncom::packet_t::checksum_3 ( void   )  const [inline]

References CHECKSUM_3_OFFSET, and m_data.

Referenced by decode().

double ncom::packet_t::d_velocity ( void   )  const [inline]

References D_VELOCITY_OFFSET, and m_data.

Referenced by packet_printer().

unsigned packet_t::decode ( unsigned char const *  buf,
unsigned  buf_size 
)

References calc_crc(), checksum_3(), m_data, m_valid, PACKET_SIZE, skip_to_stx(), and STX.

Referenced by cajun::rt3k_udp_t::handle_input(), and main().

double ncom::packet_t::e_velocity ( void   )  const [inline]

References E_VELOCITY_OFFSET, and m_data.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::heading ( void   )  const [inline]

References HEADING_OFFSET, and m_data.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::latitude ( void   )  const [inline]

References LATITUDE_OFFSET, and m_data.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::longitude ( void   )  const [inline]

References LONGITUDE_OFFSET, and m_data.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::n_velocity ( void   )  const [inline]

References m_data, and N_VELOCITY_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

nav_status_t ncom::packet_t::nav_status ( void   )  const [inline]

References m_data, and NAV_STATUS_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::pitch ( void   )  const [inline]

References m_data, and PITCH_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::roll ( void   )  const [inline]

References m_data, and ROLL_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

unsigned packet_t::skip_to_stx ( unsigned char const *  data,
unsigned  size 
) [static, protected]

References STX, and stx().

Referenced by decode().

unsigned ncom::packet_t::stx ( void   )  const [inline]

References m_data, and STX_OFFSET.

Referenced by skip_to_stx().

double ncom::packet_t::time ( void   )  const [inline]

References m_data, and TIME_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

bool ncom::packet_t::valid ( void   )  const [inline]

References m_valid.

Referenced by ncom::channel_t::channel_t(), cajun::rt3k_udp_t::handle_input(), and main().

double ncom::packet_t::x_acceleration ( void   )  const [inline]

References m_data, and X_ACCELERATION_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::x_angular_rate ( void   )  const [inline]

References m_data, and X_ANGULAR_RATE_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::y_acceleration ( void   )  const [inline]

References m_data, and Y_ACCELERATION_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::y_angular_rate ( void   )  const [inline]

References m_data, and Y_ANGULAR_RATE_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::z_acceleration ( void   )  const [inline]

References m_data, and Z_ACCELERATION_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

double ncom::packet_t::z_angular_rate ( void   )  const [inline]

References m_data, and Z_ANGULAR_RATE_OFFSET.

Referenced by cajun::rt3k_udp_t::decode_packet(), and packet_printer().

Member Data Documentation

unsigned const ncom::packet_t::ALTITUDE_OFFSET = 39 [static, protected]

Referenced by altitude().

unsigned const ncom::packet_t::CHANNEL_DATA_OFFSET = 63 [static, protected]

Referenced by channel_data().

unsigned const ncom::packet_t::CHANNEL_OFFSET = 62 [static, protected]

Referenced by channel().

unsigned const ncom::packet_t::CHECKSUM_1_OFFSET = 22 [static, protected]

Referenced by checksum_1().

unsigned const ncom::packet_t::CHECKSUM_2_OFFSET = 61 [static, protected]

Referenced by checksum_2().

unsigned const ncom::packet_t::CHECKSUM_3_OFFSET = 71 [static, protected]

Referenced by checksum_3().

unsigned const ncom::packet_t::D_VELOCITY_OFFSET = 49 [static, protected]

Referenced by d_velocity().

unsigned const ncom::packet_t::E_VELOCITY_OFFSET = 46 [static, protected]

Referenced by e_velocity().

unsigned const ncom::packet_t::HEADING_OFFSET = 52 [static, protected]

Referenced by heading().

unsigned const ncom::packet_t::LATITUDE_OFFSET = 23 [static, protected]

Referenced by latitude().

unsigned const ncom::packet_t::LONGITUDE_OFFSET = 31 [static, protected]

Referenced by longitude().

unsigned char const* ncom::packet_t::m_data [protected]

Referenced by altitude(), channel(), channel_data(), checksum_1(), checksum_2(), checksum_3(), d_velocity(), decode(), e_velocity(), heading(), latitude(), longitude(), n_velocity(), nav_status(), pitch(), roll(), stx(), time(), x_acceleration(), x_angular_rate(), y_acceleration(), y_angular_rate(), z_acceleration(), and z_angular_rate().

bool ncom::packet_t::m_valid [protected]

Referenced by decode(), and valid().

unsigned const ncom::packet_t::N_VELOCITY_OFFSET = 43 [static, protected]

Referenced by n_velocity().

unsigned const ncom::packet_t::NAV_STATUS_OFFSET = 21 [static, protected]

Referenced by nav_status().

unsigned const ncom::packet_t::PACKET_SIZE = 72 [static, protected]

Referenced by decode().

unsigned const ncom::packet_t::PITCH_OFFSET = 55 [static, protected]

Referenced by pitch().

unsigned const ncom::packet_t::ROLL_OFFSET = 58 [static, protected]

Referenced by roll().

unsigned const ncom::packet_t::STX = 0xE7 [static]

Referenced by decode(), and skip_to_stx().

unsigned const ncom::packet_t::STX_OFFSET = 0 [static, protected]

Referenced by stx().

unsigned const ncom::packet_t::TIME_OFFSET = 1 [static, protected]

Referenced by time().

unsigned const ncom::packet_t::X_ACCELERATION_OFFSET = 3 [static, protected]

Referenced by x_acceleration().

unsigned const ncom::packet_t::X_ANGULAR_RATE_OFFSET = 12 [static, protected]

Referenced by x_angular_rate().

unsigned const ncom::packet_t::Y_ACCELERATION_OFFSET = 6 [static, protected]

Referenced by y_acceleration().

unsigned const ncom::packet_t::Y_ANGULAR_RATE_OFFSET = 15 [static, protected]

Referenced by y_angular_rate().

unsigned const ncom::packet_t::Z_ACCELERATION_OFFSET = 9 [static, protected]

Referenced by z_acceleration().

unsigned const ncom::packet_t::Z_ANGULAR_RATE_OFFSET = 18 [static, protected]

Referenced by z_angular_rate().

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