C++ class representing a view of a MIP packet. More...

#include <mip_packet.hpp>

Inheritance diagram for mip::PacketView:

Classes
class	AllocatedField

class	FieldIterator

Public Types
enum	Index : uint8_t { Index::SYNC_1 = C::MIP_PACKET_INDEX_SYNC_1, Index::SYNC_2 = C::MIP_PACKET_INDEX_SYNC_2, Index::DESC_SET = C::MIP_PACKET_INDEX_DESC_SET, Index::LENGTH = C::MIP_PACKET_INDEX_LENGTH, Index::PAYLOAD = C::MIP_PACKET_INDEX_PAYLOAD }

Public Member Functions
	PacketView (uint8_t *buffer, size_t bufferSize, uint8_t descriptorSet)
	Create a brand-new MIP packet in the given buffer. More...

	PacketView (const uint8_t *buffer, size_t length)
	Initializes a MIP packet from an existing buffer. More...

	PacketView (const C::mip_packet_view *other)
	Constructs a C++ PacketRef class from the base C object. More...

	PacketView (const C::mip_packet_view &other)
	Constructs a C++ PacketRef class from the base C object. More...

	PacketView (microstrain::U8ArrayView buffer, uint8_t descriptorSet)
	Create a new MIP packet in an existing buffer. More...

	PacketView (microstrain::ConstU8ArrayView buffer)
	Create a reference to an existing MIP packet. More...

microstrain::ConstU8ArrayView	buffer () const

microstrain::U8ArrayView	buffer_w ()
	Gets the entire storage buffer for the packet. More...

microstrain::ConstU8ArrayView	data () const

microstrain::ConstU8ArrayView	payload () const

microstrain::U8ArrayView	payload_w ()
	Get the payload as raw bytes. More...

Serializer	createField (uint8_t fieldDescriptor, uint8_t length)

uint8_t	dataAt (const size_t i) const

uint8_t &	dataAt (const size_t i)

uint8_t	dataAt (const Index i) const

uint8_t &	dataAt (const Index i)

uint8_t	payloadAt (const size_t i) const

uint8_t &	payloadAt (const size_t i)
	Get payload byte at index i. More...

bool	addField (uint8_t fieldDescriptor, microstrain::ConstU8ArrayView payload)
	Get writable payload byte at index i. More...

bool	addField (const FieldView &field)
	Copies the given mip field to the packet. More...

AllocatedField	createField (uint8_t fieldDescriptor)

FieldIterator	begin () const

FieldIterator	end () const

FieldView	firstField () const
	Returns the first field in the packet. More...

template<class FieldType >
bool	addField (const FieldType &field, uint8_t fieldDescriptor=INVALID_FIELD_DESCRIPTOR)
	Adds a field of the given type to the packet. More...

bool	copyPacketTo (microstrain::U8ArrayView buffer) const
	Copies this packet to an external buffer (span version). More...

Static Public Member Functions
template<class FieldType >
static PacketView	createFromField (microstrain::U8ArrayView packetBuffer, const FieldType &field, uint8_t fieldDescriptor=INVALID_FIELD_DESCRIPTOR)
	Creates a new PacketRef containing a single MIP field from an instance of the field type. More...

Static Public Attributes
static constexpr uint8_t	SYNC_1 = C::MIP_SYNC_1

static constexpr uint8_t	SYNC_2 = C::MIP_SYNC_2

static constexpr size_t	HEADER_LENGTH = C::MIP_PACKET_HEADER_LENGTH

static constexpr size_t	CHECKSUM_LENGTH = C::MIP_PACKET_CHECKSUM_LENGTH

static constexpr size_t	LENGTH_MIN = C::MIP_PACKET_LENGTH_MIN

static constexpr size_t	LENGTH_MAX = C::MIP_PACKET_LENGTH_MAX

static constexpr size_t	PAYLOAD_LENGTH_MIN = C::MIP_PACKET_PAYLOAD_LENGTH_MIN

static constexpr size_t	PAYLOAD_LENGTH_MAX = C::MIP_PACKET_PAYLOAD_LENGTH_MAX

Detailed Description

This is a thin wrapper around the mip_packet_view C structure. Like the C version, it does not contain or own the data buffer. Any of the C functions can be used with the C++ packet class because it inherits from the C struct.

Fields may be iterated over using the C-style methods, with an iterator, or with a range-based for loop:

for(PacketRef::Iterator iter = packet.begin(); iter != packet.end(); ++iter) { ... }

for(Field field : packet) { ... }

Member Enumeration Documentation

◆ Index

enum mip::PacketView::Index : uint8_t

strong

Enumerator
SYNC_1
SYNC_2
DESC_SET
LENGTH
PAYLOAD

Constructor & Destructor Documentation

◆ PacketView() [1/6]

mip::PacketView::PacketView	(	uint8_t *	buffer,
		size_t	bufferSize,
		uint8_t	descriptorSet
	)

inline

Use this along with the packet building functions to create MIP packets.

Parameters

packet
buffer	This is where the packet bytes will be stored. Must be at least MIP_PACKET_LENGTH_MIN bytes in size.
buffer_size	The size of buffer, in bytes.
descriptor_set	The MIP descriptor set for the packet.

◆ PacketView() [2/6]

mip::PacketView::PacketView	(	const uint8_t *	buffer,
		size_t	length
	)

inline

Use this when receiving or parsing MIP packets.

The data in the buffer should be a valid or suspected MIP packet.

Parameters

packet
buffer	The data buffer containing the bytes for a MIP packet. Must be at least MIP_PACKET_LENGTH_MIN bytes in size.
length	The length of the data pointed to by buffer.

Note: The data does not need to be a valid MIP packet, for instance to use the mip_packet_is_sane() or mip_packet_is_valid() functions. However, if it is NOT a valid MIP packet, the result of calling any accessor function is unpredictable. In particular, if length is less than MIP_PACKET_LENGTH_MIN bytes, calling the accessor functions is undefined behavior.

◆ PacketView() [3/6]

mip::PacketView::PacketView ( const C::mip_packet_view * other )

inline

◆ PacketView() [4/6]

mip::PacketView::PacketView ( const C::mip_packet_view & other )

inline

◆ PacketView() [5/6]

mip::PacketView::PacketView	(	microstrain::U8ArrayView	buffer,
		uint8_t	descriptorSet
	)

inline

Parameters

buffer	Place to store the MIP packet bytes.
descriptorSet	Initializes the packet to this descriptor set.

◆ PacketView() [6/6]

mip::PacketView::PacketView ( microstrain::ConstU8ArrayView buffer )

inline

Parameters

buffer Buffer containing an existing MIP packet.

Warning: Do not call functions which modify the packet (addField, finalize, reset, etc) unless you know the buffer is not const.

Member Function Documentation

◆ buffer()

microstrain::ConstU8ArrayView mip::PacketView::buffer ( ) const

inline

◆ buffer_w()

microstrain::U8ArrayView mip::PacketView::buffer_w ( )

inline

◆ data()

microstrain::ConstU8ArrayView mip::PacketView::data ( ) const

inline

◆ payload()

microstrain::ConstU8ArrayView mip::PacketView::payload ( ) const

inline

◆ payload_w()

microstrain::U8ArrayView mip::PacketView::payload_w ( )

inline

◆ createField() [1/2]

Serializer mip::PacketView::createField	(	uint8_t	fieldDescriptor,
		uint8_t	length
	)

inline

◆ dataAt() [1/4]

uint8_t mip::PacketView::dataAt ( const size_t i ) const

inline

◆ dataAt() [2/4]

uint8_t& mip::PacketView::dataAt ( const size_t i )

inline

◆ dataAt() [3/4]

uint8_t mip::PacketView::dataAt ( const Index i ) const

inline

◆ dataAt() [4/4]

uint8_t& mip::PacketView::dataAt ( const Index i )

inline

◆ payloadAt() [1/2]

uint8_t mip::PacketView::payloadAt ( const size_t i ) const

inline

◆ payloadAt() [2/2]

uint8_t& mip::PacketView::payloadAt ( const size_t i )

inline

◆ addField() [1/3]

bool mip::PacketView::addField	(	uint8_t	fieldDescriptor,
		microstrain::ConstU8ArrayView	payload
	)

inline

Creates a mip field with the given descriptor and a copy of the payload.

◆ addField() [2/3]

bool mip::PacketView::addField ( const FieldView & field )

inline

◆ createField() [2/2]

AllocatedField mip::PacketView::createField ( uint8_t fieldDescriptor )

inline

◆ begin()

FieldIterator mip::PacketView::begin ( ) const

inline

Returns a forward iterator to the first field in the packet.

◆ end()

FieldIterator mip::PacketView::end ( ) const

inline

Returns a sentry object representing the end of fields in the packet.

◆ firstField()

FieldView mip::PacketView::firstField ( ) const

inline

Subsequent fields can be obtained via the returned Field class, but iteration is best done with begin()/end() or the range-based for loop.

Note: Packets can be empty, so make sure that the returned field is valid before using it.

Returns: A Field instance representing the first field (if any).

◆ addField() [3/3]

template<class FieldType >

bool mip::PacketView::addField	(	const FieldType &	field,
		uint8_t	fieldDescriptor = `INVALID_FIELD_DESCRIPTOR`
	)

inline

Template Parameters

FieldType Any field class from a file in the mip/definitions directory.

Parameters

field	Instance of the field to add to the packet.
fieldDescriptor	If specified, overrides the field descriptor.

Returns: True if the field was added, false if the packet has insufficient space.

◆ createFromField()

template<class FieldType >

static PacketView mip::PacketView::createFromField	(	microstrain::U8ArrayView	packetBuffer,
		const FieldType &	field,
		uint8_t	fieldDescriptor = `INVALID_FIELD_DESCRIPTOR`
	)

inlinestatic

This works just like the addField<FieldType>() function but also initializes and finalizes the packet. It is assumed that the field will fit in an empty packet; otherwise the field can't ever be used. The field classes are predefined so this doesn't need runtime checking.

Template Parameters

FieldType Any field class from a file in the mip/definitions directory.

Parameters

packetBuffer	Buffer to hold the packet bytes.
field	Instance of the field to add to the packet.
fieldDescriptor	If specified, overrides the field descriptor.

Returns: A PacketRef object containing the field.

◆ copyPacketTo()

bool mip::PacketView::copyPacketTo ( microstrain::U8ArrayView buffer ) const

inline

This packet must be sane (see isSane()). Undefined behavior otherwise due to lookup of totalLength().

Parameters

buffer Data is copied to this buffer.

Returns: true if successful.; false if maxLength is too short.

Member Data Documentation

◆ SYNC_1

constexpr uint8_t mip::PacketView::SYNC_1 = C::MIP_SYNC_1

staticconstexpr

◆ SYNC_2

constexpr uint8_t mip::PacketView::SYNC_2 = C::MIP_SYNC_2

staticconstexpr

◆ HEADER_LENGTH

constexpr size_t mip::PacketView::HEADER_LENGTH = C::MIP_PACKET_HEADER_LENGTH

staticconstexpr

◆ CHECKSUM_LENGTH

constexpr size_t mip::PacketView::CHECKSUM_LENGTH = C::MIP_PACKET_CHECKSUM_LENGTH

staticconstexpr

◆ LENGTH_MIN

constexpr size_t mip::PacketView::LENGTH_MIN = C::MIP_PACKET_LENGTH_MIN

staticconstexpr

◆ LENGTH_MAX

constexpr size_t mip::PacketView::LENGTH_MAX = C::MIP_PACKET_LENGTH_MAX

staticconstexpr

◆ PAYLOAD_LENGTH_MIN

constexpr size_t mip::PacketView::PAYLOAD_LENGTH_MIN = C::MIP_PACKET_PAYLOAD_LENGTH_MIN

staticconstexpr

◆ PAYLOAD_LENGTH_MAX

constexpr size_t mip::PacketView::PAYLOAD_LENGTH_MAX = C::MIP_PACKET_PAYLOAD_LENGTH_MAX

staticconstexpr

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

src/cpp/mip/mip_packet.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Enumeration Documentation

◆ Index

Constructor & Destructor Documentation

◆ PacketView() [1/6]

◆ PacketView() [2/6]

◆ PacketView() [3/6]

◆ PacketView() [4/6]

◆ PacketView() [5/6]

◆ PacketView() [6/6]

Member Function Documentation

◆ buffer()

◆ buffer_w()

◆ data()

◆ payload()

◆ payload_w()

◆ createField() [1/2]

◆ dataAt() [1/4]

◆ dataAt() [2/4]

◆ dataAt() [3/4]

◆ dataAt() [4/4]

◆ payloadAt() [1/2]

◆ payloadAt() [2/2]

◆ addField() [1/3]

◆ addField() [2/3]

◆ createField() [2/2]

◆ begin()

◆ end()

◆ firstField()

◆ addField() [3/3]

◆ createFromField()

◆ copyPacketTo()

Member Data Documentation

◆ SYNC_1

◆ SYNC_2

◆ HEADER_LENGTH

◆ CHECKSUM_LENGTH

◆ LENGTH_MIN

◆ LENGTH_MAX

◆ PAYLOAD_LENGTH_MIN

◆ PAYLOAD_LENGTH_MAX