Represents a connected MIP device. More...

#include <mip_interface.hpp>

Inheritance diagram for mip::Interface:

Public Member Functions
	Interface (uint8_t *parseBuffer, size_t parseBufferSize, Timeout parseTimeout, Timeout baseReplyTimeout)
	Initialize the mip_interface components. More...

	Interface (microstrain::Connection connection, uint8_t parseBuffer, size_t parseBufferSize, 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	setSendFunction ()
	Sets the send callback function (free function version). More...

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

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

template<class Derived , bool(Derived::)(const uint8_t , size_t) Send>
void	setSendFunction ()
	Sets the send callback function (derived member function version). More...

template<class Derived , bool(Derived::)(uint8_t , size_t, Timeout, size_t , Timestamp ) Recv>
void	setRecvFunction ()
	Sets the receive callback function (derived member function version). More...

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

template<class T , bool(T::)(const uint8_t , size_t) Send, bool(T::)(uint8_t , size_t, Timeout, size_t , Timestamp ) Recv, bool(T::*)(Timeout) Update = nullptr>
void	setCallbacks (T *object)
	Sets the callback functions to a common class object. More...

void	setMaxPacketsPerPoll (unsigned int maxPackets)

unsigned int	maxPacketsPerPoll () const

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 (const C::mip_packet_view &packet)

bool	recvFromDevice (uint8_t buffer, size_t max_length, Timeout wait_time, size_t length_out, Timestamp *timestamp)

bool	update (Timeout wait_time=0)

bool	defaultUpdate (Timeout wait_time=0)

size_t	receiveBytes (const uint8_t *data, size_t length, Timestamp timestamp)

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

void	processUnparsedPackets ()

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)

Detailed Description

Represents a connected MIP device.

Constructor & Destructor Documentation

◆ Interface() [1/3]

mip::Interface::Interface	(	uint8_t *	parseBuffer,
		size_t	parseBufferSize,
		Timeout	parseTimeout,
		Timeout	baseReplyTimeout
	)

inline

Initialize the mip_interface components.

Parameters

device
parse_buffer	A working buffer for the MIP parser. See mip_parser_init().
parse_buffer_size	Size of the parsing buffer. Must be at least MIP_PACKET_LENGTH_MAX.
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,
		uint8_t *	parseBuffer,
		size_t	parseBufferSize,
		Timeout	parseTimeout,
		Timeout	baseReplyTimeout
	)

inline

Initialize the mip_interface components.

Parameters

device
parse_buffer	A working buffer for the MIP parser. See mip_parser_init().
parse_buffer_size	Size of the parsing buffer. Must be at least MIP_PACKET_LENGTH_MAX.
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 Interface object

◆ Interface() [3/3]

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

delete

◆ ~Interface()

mip::Interface::~Interface ( )

default

Member Function Documentation

◆ baseReplyTimeout()

Timeout mip::Interface::baseReplyTimeout ( ) const

inline

◆ cmdQueue() [1/2]

CmdQueue& mip::Interface::cmdQueue ( )

inline

◆ cmdQueue() [2/2]

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

inline

◆ defaultUpdate()

bool mip::Interface::defaultUpdate ( Timeout wait_time = 0 )

inline

◆ maxPacketsPerPoll()

unsigned int mip::Interface::maxPacketsPerPoll ( ) const

inline

◆ operator=()

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

delete

◆ parser() [1/2]

Parser& mip::Interface::parser ( )

inline

◆ parser() [2/2]

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

inline

◆ processUnparsedPackets()

void mip::Interface::processUnparsedPackets ( )

inline

◆ receiveBytes()

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

inline

◆ receivePacket()

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

inline

◆ recvFromDevice()

bool mip::Interface::recvFromDevice	(	uint8_t *	buffer,
		size_t	max_length,
		Timeout	wait_time,
		size_t *	length_out,
		Timestamp *	timestamp
	)

inline

◆ recvFunction()

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

inline

◆ registerDataCallback() [1/2]

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`
	)

◆ registerDataCallback() [2/2]

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`
	)

◆ 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

◆ registerPacketCallback()

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

inline

◆ runCommand() [1/3]

template<class Cmd , class... Args>

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

inline

◆ runCommand() [2/3]

template<class Cmd >

CmdResult mip::Interface::runCommand	(	const Cmd &	cmd,
		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

◆ sendFunction()

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

inline

◆ sendToDevice() [1/2]

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

inline

◆ sendToDevice() [2/2]

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

inline

◆ setBaseReplyTimeout()

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

inline

◆ setMaxPacketsPerPoll()

void mip::Interface::setMaxPacketsPerPoll ( unsigned int maxPackets )

inline

◆ setRecvFunction()

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

inline

◆ setSendFunction()

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

inline

◆ setUpdateFunction()

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

inline

◆ startCommand()

template<class Cmd >

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

inline

◆ update()

bool mip::Interface::update ( Timeout wait_time = 0 )

inline

◆ updateFunction()

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

inline

◆ waitForReply()

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

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

◆ baseReplyTimeout()

◆ cmdQueue() [1/2]

◆ cmdQueue() [2/2]

◆ defaultUpdate()

◆ maxPacketsPerPoll()

◆ operator=()

◆ parser() [1/2]

◆ parser() [2/2]

◆ processUnparsedPackets()

◆ receiveBytes()

◆ receivePacket()

◆ recvFromDevice()

◆ recvFunction()

◆ registerDataCallback() [1/2]

◆ registerDataCallback() [2/2]

◆ registerFieldCallback()

◆ registerPacketCallback()

◆ runCommand() [1/3]

◆ runCommand() [2/3]

◆ runCommand() [3/3]

◆ sendFunction()

◆ sendToDevice() [1/2]

◆ sendToDevice() [2/2]

◆ setBaseReplyTimeout()

◆ setMaxPacketsPerPoll()

◆ setRecvFunction()

◆ setSendFunction()

◆ setUpdateFunction()

◆ startCommand()

◆ update()

◆ updateFunction()

◆ waitForReply()