Represents a connected MIP device. More...

#include <mip_interface.hpp>

Inheritance diagram for mip::Interface:

Public Member Functions
	Interface (Timeout parseTimeout, Timeout baseReplyTimeout)
	Initialize the mip_interface components. More...

	Interface (microstrain::Connection *connection, Timeout parseTimeout, Timeout baseReplyTimeout)
	Initialize the mip_interface components. More...

	Interface (const Interface &)=delete

Interface &	operator= (const Interface &)=delete

	~Interface ()=default

C::mip_send_callback	sendFunction () const

C::mip_recv_callback	recvFunction () const

C::mip_update_callback	updateFunction () const

void	setSendFunction (C::mip_send_callback callback)

void	setRecvFunction (C::mip_recv_callback callback)

void	setUpdateFunction (C::mip_update_callback function)

template<bool()(Interface &, const uint8_t , size_t) Send>
void	setSendFunctionFree ()
	Sets the send callback function (free function version). More...

template<bool(*)(Interface &, microstrain::ConstU8ArrayView) Send>
void	setSendFunctionFree ()

template<bool()(Interface &, uint8_t , size_t, Timeout, bool, size_t , Timestamp ) Recv>
void	setRecvFunctionFree ()
	Sets the receive callback function (free function version). More...

template<bool()(Interface &, microstrain::U8ArrayView, Timeout, bool, size_t , Timestamp *) Recv>
void	setRecvFunctionFree ()

template<bool(*)(Interface &, Timeout, bool) Update>
void	setUpdateFunctionFree ()
	Sets the update callback function (free function version). More...

template<class UserClass , bool(UserClass::)(const uint8_t , size_t) Send>
void	setSendFunctionUserPointer ()
	Sets the send callback function (class member function version w/ ptr & length). More...

template<class UserClass , bool(UserClass::*)(microstrain::ConstU8ArrayView) Send>
void	setSendFunctionUserPointer ()

template<class UserClass , bool()(UserClass , microstrain::ConstU8ArrayView) Send>
void	setSendFunctionUserPointer ()

template<class UserClass , bool(UserClass::)(uint8_t , size_t, Timeout, bool, size_t , Timestamp ) Recv>
void	setRecvFunctionUserPointer ()
	Sets the receive callback function (class member function version w/ ptr & length). More...

template<class UserClass , bool(UserClass::)(microstrain::U8ArrayView, Timeout, bool, size_t , Timestamp *) Recv>
void	setRecvFunctionUserPointer ()

template<class UserClass , bool()(UserClass , microstrain::U8ArrayView, Timeout, bool, size_t , Timestamp ) Recv>
void	setRecvFunctionUserPointer ()

template<class UserClass , bool(UserClass::*)(Timeout, bool) Update>
void	setUpdateFunctionUserPointer ()
	Sets the update callback function (class member function version). More...

template<class UserClass , bool()(UserClass , Timeout, bool) Update>
void	setUpdateFunctionUserPointer ()

template<class T , bool(T::)(microstrain::ConstU8ArrayView) Send, bool(T::)(microstrain::U8ArrayView, Timeout, bool, size_t , Timestamp ) Recv, bool(T::*)(Timeout, bool) Update = nullptr>
void	setCallbacksUserPointer (T *object)

template<class Derived , bool(Derived::*)(microstrain::ConstU8ArrayView) Send>
void	setSendFunctionDerived ()
	Sets the send callback function (derived member function version). More...

template<class Derived , bool(Derived::)(microstrain::U8ArrayView, Timeout, bool, size_t , Timestamp *) Recv>
void	setRecvFunctionDerived ()
	Sets the receive callback function (derived member function version). More...

template<class Derived , bool(Derived::*)(Timeout, bool) Update>
void	setUpdateFunctionDerived ()
	Sets the update callback function (derived member function version). More...

template<class Derived , bool(Derived::)(microstrain::ConstU8ArrayView) Send, bool(Derived::)(microstrain::U8ArrayView, Timeout, bool, size_t , Timestamp ) Recv, bool(Derived::*)(Timeout, bool) Update = nullptr>
void	setCallbacksDerived ()
	Sets the callback functions to a derived class object. More...

void	setUserPointer (void *ptr)
	Sets an optional user data pointer which can be retrieved later. More...

void *	userPointer ()

Timeout	baseReplyTimeout () const

void	setBaseReplyTimeout (Timeout timeout)

Parser &	parser ()

CmdQueue &	cmdQueue ()

const Parser &	parser () const

const CmdQueue &	cmdQueue () const

bool	sendToDevice (const uint8_t *data, size_t length)

bool	sendToDevice (microstrain::ConstU8ArrayView data)

bool	sendToDevice (const C::mip_packet_view &packet)

bool	recvFromDevice (microstrain::U8ArrayView buffer, Timeout wait_time, bool from_cmd, size_t length_out, Timestamp timestamp_out)

bool	update (Timeout wait_time, bool from_cmd=false)

bool	defaultUpdate (Timeout wait_time, bool from_cmd=false)

bool	defaultUpdateExtBuffer (Timeout wait_time, bool from_cmd, microstrain::U8ArrayView buffer)

void	inputBytes (const uint8_t *data, size_t length, Timestamp timestamp)

void	inputBytes (microstrain::ConstU8ArrayView data, Timestamp timestamp)

void	inputPacket (const C::mip_packet_view &packet, Timestamp timestamp)

void	updateTime (Timestamp timestamp)

void	inputBytesAndOrTime (microstrain::ConstU8ArrayView data, Timestamp timestamp)

CmdResult	waitForReply (C::mip_pending_cmd &cmd)

void	registerPacketCallback (C::mip_dispatch_handler &handler, uint8_t descriptorSet, bool afterFields, C::mip_dispatch_packet_callback callback, void *userData)

void	registerFieldCallback (C::mip_dispatch_handler &handler, uint8_t descriptorSet, uint8_t fieldDescriptor, C::mip_dispatch_field_callback callback, void *userData)

template<void()(void , const PacketView &, Timestamp) Callback>
void	registerPacketCallback (C::mip_dispatch_handler &handler, uint8_t descriptorSet, bool afterFields, void *userData=nullptr)
	Registers a packet callback (free function version). More...

template<class Object , void(Object::*)(const PacketView &, Timestamp) Callback>
void	registerPacketCallback (C::mip_dispatch_handler &handler, uint8_t descriptorSet, bool afterFields, Object *object)
	Registers a packet callback (member function version). More...

template<void()(void , const FieldView &, Timestamp) Callback>
void	registerFieldCallback (C::mip_dispatch_handler &handler, uint8_t descriptorSet, uint8_t fieldDescriptor, void *userData=nullptr)
	Registers a field callback (free function version). More...

template<class Object , void(Object::*)(const FieldView &field, Timestamp) Callback>
void	registerFieldCallback (C::mip_dispatch_handler &handler, uint8_t descriptorSet, uint8_t fieldDescriptor, Object *object)
	Registers a field callback (member function version). More...

template<class DataField , void()(void , const DataField &, Timestamp) Callback>
void	registerDataCallback (C::mip_dispatch_handler &handler, void *userData=nullptr, uint8_t descriptorSet=DataField::DESCRIPTOR_SET)
	Registers a data callback (free function version). More...

template<class DataField , void()(void , const DataField &, uint8_t, Timestamp) Callback>
void	registerDataCallback (C::mip_dispatch_handler &handler, void *userData=nullptr, uint8_t descriptorSet=DataField::DESCRIPTOR_SET)

template<class DataField , class Object , void(Object::*)(const DataField &, Timestamp) Callback>
void	registerDataCallback (C::mip_dispatch_handler &handler, Object *object, uint8_t descriptorSet=DataField::DESCRIPTOR_SET)
	Registers a data callback (member function version). More...

template<class DataField , class Object , void(Object::*)(const DataField &, uint8_t, Timestamp) Callback>
void	registerDataCallback (C::mip_dispatch_handler &handler, Object *object, uint8_t descriptorSet=DataField::DESCRIPTOR_SET)

template<class DataField >
void	registerExtractor (C::mip_dispatch_handler &handler, DataField *field, uint8_t descriptorSet=DataField::DESCRIPTOR_SET)

template<class Cmd >
CmdResult	runCommand (const Cmd &cmd, Timeout additionalTime=0)

template<class Cmd , class... Args>
CmdResult	runCommand (Args &&... args, Timeout additionalTime=0)

template<class Cmd >
CmdResult	runCommand (const Cmd &cmd, typename Cmd::Response &response, Timeout additionalTime=0)

template<class Cmd >
bool	startCommand (PendingCmd &pending, const Cmd &cmd, Timeout additionalTime=0)

template<class UserClass , bool(UserClass::)(microstrain::ConstU8ArrayView) Send, bool(UserClass::)(microstrain::U8ArrayView, Timeout, bool, size_t , Timestamp ) Recv, bool(UserClass::*)(Timeout, bool) Update>
void	setCallbacksUserPointer (UserClass *object)
	Sets the callback functions to a common class object. More...

Detailed Description

Constructor & Destructor Documentation

◆ Interface() [1/3]

mip::Interface::Interface	(	Timeout	parseTimeout,
		Timeout	baseReplyTimeout
	)

inline

Parameters

device
parse_timeout	Maximum length of time to wait for the end of a MIP packet. See mip_parser_init().
base_reply_timeout	Minimum time for all commands. See mip_cmd_queue_init().
send	A callback which is called to send data to the device.
recv	A callback which is called when data needs to be read from the device.
update	Optional callback which is called to perform routine tasks such as checking for command timeouts. Defaults to mip_interface_default_update.
user_pointer	Optional pointer which is passed to the send, recv, and update callbacks.

The interface callbacks must be assigned separately (e.g. with Connection::connect_interface())

◆ Interface() [2/3]

mip::Interface::Interface	(	microstrain::Connection *	connection,
		Timeout	parseTimeout,
		Timeout	baseReplyTimeout
	)

inline

Parameters

device
parse_timeout	Maximum length of time to wait for the end of a MIP packet. See mip_parser_init().
base_reply_timeout	Minimum time for all commands. See mip_cmd_queue_init().
send	A callback which is called to send data to the device.
recv	A callback which is called when data needs to be read from the device.
update	Optional callback which is called to perform routine tasks such as checking for command timeouts. Defaults to mip_interface_default_update.
user_pointer	Optional pointer which is passed to the send, recv, and update callbacks.
connection	The connection object used to communicate with the device. This object must exist for the life of the DeviceInterface object

◆ Interface() [3/3]

mip::Interface::Interface ( const Interface & )

delete

◆ ~Interface()

mip::Interface::~Interface ( )

default

Member Function Documentation

◆ operator=()

Interface& mip::Interface::operator= ( const Interface & )

delete

◆ sendFunction()

C::mip_send_callback mip::Interface::sendFunction ( ) const

inline

◆ recvFunction()

C::mip_recv_callback mip::Interface::recvFunction ( ) const

inline

◆ updateFunction()

C::mip_update_callback mip::Interface::updateFunction ( ) const

inline

◆ setSendFunction()

void mip::Interface::setSendFunction ( C::mip_send_callback callback )

inline

◆ setRecvFunction()

void mip::Interface::setRecvFunction ( C::mip_recv_callback callback )

inline

◆ setUpdateFunction()

void mip::Interface::setUpdateFunction ( C::mip_update_callback function )

inline

◆ setSendFunctionFree()

template<bool(*)(Interface &, microstrain::ConstU8ArrayView) Send>

void mip::Interface::setSendFunctionFree ( )

◆ setRecvFunctionFree()

template<bool(*)(Interface &, microstrain::U8ArrayView, Timeout, bool, size_t *, Timestamp *) Recv>

void mip::Interface::setRecvFunctionFree ( )

◆ setSendFunctionUserPointer() [1/2]

template<class UserClass , bool(UserClass::*)(microstrain::ConstU8ArrayView) Send>

void mip::Interface::setSendFunctionUserPointer ( )

◆ setSendFunctionUserPointer() [2/2]

template<class UserClass , bool(*)(UserClass *, microstrain::ConstU8ArrayView) Send>

void mip::Interface::setSendFunctionUserPointer ( )

◆ setRecvFunctionUserPointer() [1/2]

template<class UserClass , bool(UserClass::*)(microstrain::U8ArrayView, Timeout, bool, size_t *, Timestamp *) Recv>

void mip::Interface::setRecvFunctionUserPointer ( )

◆ setRecvFunctionUserPointer() [2/2]

template<class UserClass , bool(*)(UserClass *, microstrain::U8ArrayView, Timeout, bool, size_t *, Timestamp *) Recv>

void mip::Interface::setRecvFunctionUserPointer ( )

◆ setUpdateFunctionUserPointer()

template<class UserClass , bool(*)(UserClass *, Timeout, bool) Update>

void mip::Interface::setUpdateFunctionUserPointer ( )

◆ setCallbacksUserPointer()

template<class T , bool(T::*)(microstrain::ConstU8ArrayView) Send, bool(T::*)(microstrain::U8ArrayView, Timeout, bool, size_t *, Timestamp *) Recv, bool(T::*)(Timeout, bool) Update = nullptr>

void mip::Interface::setCallbacksUserPointer ( T * object )

◆ setUserPointer()

void mip::Interface::setUserPointer ( void * ptr )

inline

Warning: If using connect_interface() or constructing using a microstrain::Connection object, the user pointer must point at the connection instance and must not be changed.

◆ userPointer()

void* mip::Interface::userPointer ( )

inline

◆ baseReplyTimeout()

Timeout mip::Interface::baseReplyTimeout ( ) const

inline

◆ setBaseReplyTimeout()

void mip::Interface::setBaseReplyTimeout ( Timeout timeout )

inline

◆ parser() [1/2]

Parser& mip::Interface::parser ( )

inline

◆ cmdQueue() [1/2]

CmdQueue& mip::Interface::cmdQueue ( )

inline

◆ parser() [2/2]

const Parser& mip::Interface::parser ( ) const

inline

◆ cmdQueue() [2/2]

const CmdQueue& mip::Interface::cmdQueue ( ) const

inline

◆ sendToDevice() [1/3]

bool mip::Interface::sendToDevice	(	const uint8_t *	data,
		size_t	length
	)

inline

◆ sendToDevice() [2/3]

bool mip::Interface::sendToDevice ( microstrain::ConstU8ArrayView data )

inline

◆ sendToDevice() [3/3]

bool mip::Interface::sendToDevice ( const C::mip_packet_view & packet )

inline

◆ recvFromDevice()

bool mip::Interface::recvFromDevice	(	microstrain::U8ArrayView	buffer,
		Timeout	wait_time,
		bool	from_cmd,
		size_t *	length_out,
		Timestamp *	timestamp_out
	)

inline

◆ update()

bool mip::Interface::update	(	Timeout	wait_time,
		bool	from_cmd = `false`
	)

inline

◆ defaultUpdate()

bool mip::Interface::defaultUpdate	(	Timeout	wait_time,
		bool	from_cmd = `false`
	)

inline

◆ defaultUpdateExtBuffer()

bool mip::Interface::defaultUpdateExtBuffer	(	Timeout	wait_time,
		bool	from_cmd,
		microstrain::U8ArrayView	buffer
	)

inline

◆ inputBytes() [1/2]

void mip::Interface::inputBytes	(	const uint8_t *	data,
		size_t	length,
		Timestamp	timestamp
	)

inline

◆ inputBytes() [2/2]

void mip::Interface::inputBytes	(	microstrain::ConstU8ArrayView	data,
		Timestamp	timestamp
	)

inline

◆ inputPacket()

void mip::Interface::inputPacket	(	const C::mip_packet_view &	packet,
		Timestamp	timestamp
	)

inline

◆ updateTime()

void mip::Interface::updateTime ( Timestamp timestamp )

inline

◆ inputBytesAndOrTime()

void mip::Interface::inputBytesAndOrTime	(	microstrain::ConstU8ArrayView	data,
		Timestamp	timestamp
	)

inline

◆ waitForReply()

CmdResult mip::Interface::waitForReply ( C::mip_pending_cmd & cmd )

inline

◆ registerPacketCallback()

void mip::Interface::registerPacketCallback	(	C::mip_dispatch_handler &	handler,
		uint8_t	descriptorSet,
		bool	afterFields,
		C::mip_dispatch_packet_callback	callback,
		void *	userData
	)

inline

◆ registerFieldCallback()

void mip::Interface::registerFieldCallback	(	C::mip_dispatch_handler &	handler,
		uint8_t	descriptorSet,
		uint8_t	fieldDescriptor,
		C::mip_dispatch_field_callback	callback,
		void *	userData
	)

inline

◆ registerDataCallback() [1/2]

template<class DataField , void(*)(void *, const DataField &, uint8_t, Timestamp) Callback>

void mip::Interface::registerDataCallback	(	C::mip_dispatch_handler &	handler,
		void *	userData = `nullptr`,
		uint8_t	descriptorSet = `DataField::DESCRIPTOR_SET`
	)

◆ registerDataCallback() [2/2]

template<class DataField , class Object , void(Object::*)(const DataField &, uint8_t, Timestamp) Callback>

void mip::Interface::registerDataCallback	(	C::mip_dispatch_handler &	handler,
		Object *	object,
		uint8_t	descriptorSet = `DataField::DESCRIPTOR_SET`
	)

◆ runCommand() [1/3]

template<class Cmd >

CmdResult mip::Interface::runCommand	(	const Cmd &	cmd,
		Timeout	additionalTime = `0`
	)

inline

◆ runCommand() [2/3]

template<class Cmd , class... Args>

CmdResult mip::Interface::runCommand	(	Args &&...	args,
		Timeout	additionalTime = `0`
	)

inline

◆ runCommand() [3/3]

template<class Cmd >

CmdResult mip::Interface::runCommand	(	const Cmd &	cmd,
		typename Cmd::Response &	response,
		Timeout	additionalTime = `0`
	)

inline

◆ startCommand()

template<class Cmd >

bool mip::Interface::startCommand	(	PendingCmd &	pending,
		const Cmd &	cmd,
		Timeout	additionalTime = `0`
	)

inline

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

src/cpp/mip/mip_interface.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Interface() [1/3]

◆ Interface() [2/3]

◆ Interface() [3/3]

◆ ~Interface()

Member Function Documentation

◆ operator=()

◆ sendFunction()

◆ recvFunction()

◆ updateFunction()

◆ setSendFunction()

◆ setRecvFunction()

◆ setUpdateFunction()

◆ setSendFunctionFree()

◆ setRecvFunctionFree()

◆ setSendFunctionUserPointer() [1/2]

◆ setSendFunctionUserPointer() [2/2]

◆ setRecvFunctionUserPointer() [1/2]

◆ setRecvFunctionUserPointer() [2/2]

◆ setUpdateFunctionUserPointer()

◆ setCallbacksUserPointer()

◆ setUserPointer()

◆ userPointer()

◆ baseReplyTimeout()

◆ setBaseReplyTimeout()

◆ parser() [1/2]

◆ cmdQueue() [1/2]

◆ parser() [2/2]

◆ cmdQueue() [2/2]

◆ sendToDevice() [1/3]

◆ sendToDevice() [2/3]

◆ sendToDevice() [3/3]

◆ recvFromDevice()

◆ update()

◆ defaultUpdate()

◆ defaultUpdateExtBuffer()

◆ inputBytes() [1/2]

◆ inputBytes() [2/2]

◆ inputPacket()

◆ updateTime()

◆ inputBytesAndOrTime()

◆ waitForReply()

◆ registerPacketCallback()

◆ registerFieldCallback()

◆ registerDataCallback() [1/2]

◆ registerDataCallback() [2/2]

◆ runCommand() [1/3]

◆ runCommand() [2/3]

◆ runCommand() [3/3]

◆ startCommand()