MIP C++ API

This module contains functions and classes for communicating with a MIP device in C++. More...

Classes
class	mip::Field
	C++ class representing a MIP field. More...
class	mip::Packet
	C++ class representing a MIP Packet. More...
class	mip::Parser
	C++ class representing a MIP parser. More...
struct	mip::Dispatcher
struct	mip::CmdQueue
	C++ wrapper around a command queue. More...
struct	mip::PendingCmd
	C++ class representing the state of a MIP command. More...
class	mip::Connection
	Represents a type of connection to a MIP device. More...
class	mip::DeviceInterface
	Represents a connected MIP device. More...

Typedefs
using	mip::DispatchHandler = C::mip_dispatch_handler

Functions
template<class Function >
bool	mip::parseMipDataFromSource (C::mip_parser &parser, Function reader, size_t maxPackets)
	Read data from a source into the internal parsing buffer. More...
template<class Cmd >
CmdResult	mip::runCommand (C::mip_interface &device, const Cmd &cmd, Timeout additionalTime=0)
template<class Cmd >
CmdResult	mip::runCommand (C::mip_interface &device, const Cmd &cmd, typename Cmd::Response &response, Timeout additionalTime=0)
template<class Cmd , class... Args>
CmdResult	mip::runCommand (C::mip_interface &device, const Args &&... args, Timeout additionalTime)
template<class Cmd >
bool	mip::startCommand (C::mip_interface &device, C::mip_pending_cmd &pending, const Cmd &cmd, Timeout additionalTime)
template<class T , bool(T::*)(const Packet &, Timestamp) Callback>
void	mip::Parser::setCallback (T &object)
	Initializes the MIP Parser. More...
template<bool(*)(DeviceInterface &, bool) Function>
void	mip::DeviceInterface::setUpdateFunction ()
	Sets the update function to a function taking a MipDevice reference. More...
template<void(*)(void *, const Packet &, Timestamp) Callback>
void	mip::DeviceInterface::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 Packet &, Timestamp) Callback>
void	mip::DeviceInterface::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 Field &, Timestamp) Callback>
void	mip::DeviceInterface::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 Field &field, Timestamp) Callback>
void	mip::DeviceInterface::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	mip::DeviceInterface::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 , class Object , void(Object::*)(const DataField &, Timestamp) Callback>
void	mip::DeviceInterface::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 >
void	mip::DeviceInterface::registerExtractor (C::mip_dispatch_handler &handler, DataField *field, uint8_t descriptorSet=DataField::DESCRIPTOR_SET)

Detailed Description

This module contains functions and classes for communicating with a MIP device in C++.

See also

mip namespace

Typedef Documentation

DispatchHandler

using mip::DispatchHandler = typedef C::mip_dispatch_handler

Function Documentation

parseMipDataFromSource()

template<class Function >

bool mip::parseMipDataFromSource	(	C::mip_parser &	parser,
		Function	reader,
		size_t	maxPackets
	)

Read data from a source into the internal parsing buffer.

Template Parameters

Function

A function-like object with the following signature: bool read(size_t maxCount, size_t* count_out, Timestamp* timestamp_out); The parameters are as follows: buffer - Buffer into which to write data. maxCount - The maximum number of bytes to read. count_out - Updated with the number of bytes actually read. timestamp_out - Updated with the timestamp of the data.

Parameters

parser
reader	A callback function, lambda, or similar which will read data into the buffer and capture the timestamp. It should return true if successful or false otherwise. If it returns false, parsing is skipped. The read function may also throw an exception instead of returning false.
maxPackets	Maximum number of packets to parse, just like for Parser::parse().

Returns

Same as the return value of reader.

registerDataCallback() [1/2]

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

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

Registers a data callback (member function version).

Template Parameters

Callback

A pointer to the function to call. This must be a constant member function pointer.

Parameters

handler	This must exist as long as the hander remains registered.
object	A pointer to the object. The object must exist while the handler remains registered.
descriptorSet	If specified, overrides the descriptor set. Intended to be used with with shared data quantities.

Example usage:

class MySystem
{
  void handleAccel(const ScaledAccel& accel, Timestamp timestamp)
  {
  }
 
  void setup()
  {
    // setup device...
    device.registerDataHandler<ScaledAccel, MySystem, &MySystem::handleAccel>(accelHandler, this);
  }
 
  DeviceInterface device;
  DispatchHandler accelHandler;
};

registerDataCallback() [2/2]

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

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

Registers a data callback (free function version).

Template Parameters

Callback

A pointer to the function to call. This must be a constant function pointer.

Parameters

handler	This must exist as long as the hander remains registered.
userData	Optional data to pass to the callback function.
descriptorSet	If specified, overrides the descriptor set. Intended to be used with with shared data quantities.

Example usage:

void handle_packet(void* context, const Packet& packet, Timestamp timestamp)
{
  // Use the packet data
}
 
DeviceInterface device;
DispatchHandler handler;
 
void setup()
{
  // Set up device...
 
  device.registerDataCallback<&handle_packet>(handler, descriptorSet, nullptr);
}

registerExtractor()

template<class DataField >

void mip::DeviceInterface::registerExtractor	(	C::mip_dispatch_handler &	handler,
		DataField *	field,
		uint8_t	descriptorSet = DataField::DESCRIPTOR_SET
	)

registerFieldCallback() [1/2]

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

void mip::DeviceInterface::registerFieldCallback	(	C::mip_dispatch_handler &	handler,
		uint8_t	descriptorSet,
		uint8_t	fieldDescriptor,
		Object *	object
	)

Registers a field callback (member function version).

Template Parameters

Callback

A pointer to the function to call. This must be a constant member function pointer.

Parameters

handler
descriptorSet
fieldDescriptor
object	Example usage: class MySystem { void handleField(const Field& field, Timestamp timestamp) { } void setup() { // setup device... device.registerFieldHandler<MySystem, &MySystem::handleField>(fieldHandler, descriptorSet, fieldDescriptor, this); } DeviceInterface device; DispatchHandler fieldHandler; };

registerFieldCallback() [2/2]

template<void(*)(void *, const Field &, Timestamp) Callback>

void mip::DeviceInterface::registerFieldCallback	(	C::mip_dispatch_handler &	handler,
		uint8_t	descriptorSet,
		uint8_t	fieldDescriptor,
		void *	userData = nullptr
	)

Registers a field callback (free function version).

Template Parameters

Callback

A pointer to the function to call. This must be a constant function pointer.

Parameters

handler
descriptorSet
fieldDescriptor
userData	Example usage: void handle_field(void* context, const Field& field, Timestamp timestamp) { // Use the field data } DeviceInterface device; DispatchHandler handler; void setup() { // Set up device... device.registerFieldCallback<&handle_field>(handler, descriptorSet, nullptr); }

registerPacketCallback() [1/2]

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

void mip::DeviceInterface::registerPacketCallback	(	C::mip_dispatch_handler &	handler,
		uint8_t	descriptorSet,
		bool	afterFields,
		Object *	object
	)

Registers a packet callback (member function version).

Template Parameters

Callback

A pointer to the function to call. This must be a constant member function pointer.

Parameters

handler
descriptorSet
afterFields
object	Example usage: class MySystem { void handlePacket(const Packet& packet, Timestamp timestamp) { } void setup() { // setup device... device.registerPacketHandler<MySystem, &MySystem::handlePacket>(packetHandler, descriptorSet, this); } DeviceInterface device; DispatchHandler packetHandler; };

registerPacketCallback() [2/2]

template<void(*)(void *, const Packet &, Timestamp) Callback>

void mip::DeviceInterface::registerPacketCallback	(	C::mip_dispatch_handler &	handler,
		uint8_t	descriptorSet,
		bool	afterFields,
		void *	userData = nullptr
	)

Registers a packet callback (free function version).

Template Parameters

Callback

A pointer to the function to call. This must be a constant function pointer.

Parameters

handler
descriptorSet
afterFields
userData	Example usage: void handle_packet(void* context, const Packet& packet, Timestamp timestamp) { // Use the packet data } DeviceInterface device; DispatchHandler handler; void setup() { // Set up device... device.registerPacketCallback<&handle_packet>(handler, descriptorSet, nullptr); }

runCommand() [1/3]

template<class Cmd , class... Args>

CmdResult mip::runCommand	(	C::mip_interface &	device,
		const Args &&...	args,
		Timeout	additionalTime
	)

runCommand() [2/3]

template<class Cmd >

CmdResult mip::runCommand	(	C::mip_interface &	device,
		const Cmd &	cmd,
		Timeout	additionalTime = 0
	)

runCommand() [3/3]

template<class Cmd >

CmdResult mip::runCommand	(	C::mip_interface &	device,
		const Cmd &	cmd,
		typename Cmd::Response &	response,
		Timeout	additionalTime = 0
	)

setCallback()

template<class T , bool(T::*)(const Packet &, Timestamp) Callback>

void mip::Parser::setCallback

(

T &

object

)

Initializes the MIP Parser.

This version allows binding a member function instead of a C-style callback. Example:

struct MyClass
{
    void handlePacket(const Packet& packet, Timeout timeout);
};
MyClass myInstance;
Parser parser<MyClass, &MyClass::handlePacket>(myInstance);

Template Parameters

T	Class type containing the member function to be called.
Callback	A pointer to a member function on a T to be called when a packet is parsed.

Parameters

object

Instance of T to call the callback.

setUpdateFunction()

template<bool(*)(DeviceInterface &, bool) Function>

void mip::DeviceInterface::setUpdateFunction

Sets the update function to a function taking a MipDevice reference.

bool updateDevice(DeviceInterface& device, bool blocking)
{
    return device.defaultUpdate(blocking);
}
 
device.setUpdateFunction<&updateDevice>();

startCommand()

template<class Cmd >

bool mip::startCommand	(	C::mip_interface &	device,
		C::mip_pending_cmd &	pending,
		const Cmd &	cmd,
		Timeout	additionalTime
	)