fpb.hpp File Reference

Fixposition SDK: Parser FP_B routines and types. More...

#include <cstdint>
#include <cstring>
#include <vector>
#include "../types.hpp"

Include dependency graph for fpb.hpp:

Go to the source code of this file.

Classes
struct	fpsdk::common::parser::fpb::FpbMeasurementsHead
	FP_B-MEASUREMENTS payload: head. More...
struct	fpsdk::common::parser::fpb::FpbMeasurementsMeas
	FP_B-MEASUREMENTS payload: measurement. More...
struct	fpsdk::common::parser::fpb::FpbVersionPayload
	FP_B-VERSION payload: head. More...

Namespaces
namespace	fpsdk
	Fixposition SDK.
namespace	fpsdk::common
	Fixposition SDK: Common library.
namespace	fpsdk::common::parser
	Parser.
namespace	fpsdk::common::parser::fpb
	Parser FP_B routines and types.

Functions
constexpr uint16_t	fpsdk::common::parser::fpb::FpbMsgId (const uint8_t *msg)
	Get message ID.
constexpr uint16_t	fpsdk::common::parser::fpb::FpbMsgTime (const uint8_t *msg)
	Get message time.
bool	fpsdk::common::parser::fpb::FpbGetMessageName (char *name, const std::size_t size, const uint8_t *msg, const std::size_t msg_size)
	Get FP_B message name.
bool	fpsdk::common::parser::fpb::FpbGetMessageInfo (char *info, const std::size_t size, const uint8_t *msg, const std::size_t msg_size)
	Get FP_B message info.
bool	fpsdk::common::parser::fpb::FpbMakeMessage (std::vector< uint8_t > &msg, const uint16_t msg_id, const uint16_t msg_time, const std::vector< uint8_t > &payload)
	Make a FP_B message.
bool	fpsdk::common::parser::fpb::FpbMakeMessage (std::vector< uint8_t > &msg, const uint16_t msg_id, const uint16_t msg_time, const uint8_t *payload, const std::size_t payload_size)
	Make a FP_B message.

Variables
static constexpr std::size_t	fpsdk::common::parser::fpb::FP_B_FRAME_SIZE = 12
	Size (in bytes) of FP_B frame.
static constexpr std::size_t	fpsdk::common::parser::fpb::FP_B_HEAD_SIZE = 8
	Size of FP_B frame header.
static constexpr uint8_t	fpsdk::common::parser::fpb::FP_B_SYNC_1 = 0x66
	FP_B frame sync char 1 ('f', 102, 0b0110'0110)
static constexpr uint8_t	fpsdk::common::parser::fpb::FP_B_SYNC_2 = 0x21
	FP_B frame sync char 2 ('!', 33, 0b0010'0001)
FP_B messages (names and IDs)
1- 999: unused 1000-1999: messages with payload binary serialised data 1101-1199: Fusion 1201-1299: GNSS 1301-1399: System 1401-1499: Configuration 1501-1599: Sensor data 1601-1699: Reserved 1701-1699: Reserved 1801-1699: Reserved 1901-1999: Reserved 2000-3000: messages with static payload 2001-2099: Input data messages (measurements, ...) 2101-2199: Input command message 2201-2299: Input config message 2301-2399: System 2401-2499: Reserved 2501-2599: Reserved 2601-2699: Reserved 2701-2799: Reserved 2801-2899: Reserved 2901-2999: Reserved 3000-65000: Reserved 65001-...: Test messages
static constexpr uint16_t	fpsdk::common::parser::fpb::FP_B_GNSSSTATUS_MSGID = 1201
	FP_B-GNSSSTATUS message ID.
static constexpr const char *	fpsdk::common::parser::fpb::FP_B_GNSSSTATUS_STRID = "FP_B-GNSSSTATUS"
	FP_B-GNSSSTATUS message name.
static constexpr uint16_t	fpsdk::common::parser::fpb::FP_B_SYSTEMSTATUS_MSGID = 1301
	FP_B-SYSTEMSTATUS message ID.
static constexpr const char *	fpsdk::common::parser::fpb::FP_B_SYSTEMSTATUS_STRID = "FP_B-SYSTEMSTATUS"
	FP_B-SYSTEMSTATUS message name.
static constexpr uint16_t	fpsdk::common::parser::fpb::FP_B_MEASUREMENTS_MSGID = 2001
	FP_B-MEASUREMENTS message ID.
static constexpr const char *	fpsdk::common::parser::fpb::FP_B_MEASUREMENTS_STRID = "FP_B-MEASUREMENTS"
	FP_B-MEASUREMENTS message name.
static constexpr uint16_t	fpsdk::common::parser::fpb::FP_B_VERSION_MSGID = 2301
	FP_B-VERSION message ID.
static constexpr const char *	fpsdk::common::parser::fpb::FP_B_VERSION_STRID = "FP_B-VERSION"
	FP_B-VERSION message name.
static constexpr uint16_t	fpsdk::common::parser::fpb::FP_B_UNITTEST1_MSGID = 65001
	FP_B-UNITTEST1 message ID.
static constexpr const char *	fpsdk::common::parser::fpb::FP_B_UNITTEST1_STRID = "FP_B-UNITTEST1"
	FP_B-UNITTEST1 message name.
static constexpr uint16_t	fpsdk::common::parser::fpb::FP_B_UNITTEST2_MSGID = 65002
	FP_B-UNITTEST2 message ID.
static constexpr const char *	fpsdk::common::parser::fpb::FP_B_UNITTEST2_STRID = "FP_B-UNITTEST2"
	FP_B-UNITTEST2 message name.
FP_B-VERSION
Description: This message contains version strings. Payload fields: # Offset Field Type Unit Description 1 0 version uint8_t - Version of the FP_B_VERSION message (currently 1) 2 1 reserved0 uint8_t[7] - Reserved for future use. Set to 0. 3 8 sw_version uint8_t[64] - Software version (nul-terminated string) 4 72 hw_name uint8_t[32] - Hardware name string (nul-terminated string) 5 104 hw_ver uint8_t[32] - Hardware version (nul-terminated string) 6 136 hw_uid uint8_t[32] - Hardware UID (nul-terminated string) 7 168 reserved1 uint8_t[64] - Reserved for future use. Set to 0.
static constexpr uint8_t	fpsdk::common::parser::fpb::FP_B_VERSION_V1 = 0x01
	FP_B-VERSION.version value.
static constexpr std::size_t	fpsdk::common::parser::fpb::FP_B_VERSION_PAYLOAD_SIZE = 232
	Size of FpbVersionPayload.

FP_B-MEASUREMENTS
Description: This message is used to input measurements, such as wheelspeeds, to the sensor. Notes: The supported meas_type, meas_loc and timestamp_type values depend on the sensor software and configuration used. Refer to the sensor documentation for valid combinations of values for these fields. Payload fields: # Offset Field Type Unit Description 1 0 version uint8_t - Version of the FP_B_MEASUREMENTS message (currently 1) 2 1 num_meas uint8_t - Number of measurements present in the body of the message (1…10) 3 2 reserved0 uint8_t[6] - Reserved for future use. Set to 0. The following fields are repeated num_meas times (i = 0…num_meas-1): 4 + i·12 8 + i·28 meas_x int32_t * Measurement x axis (for example, [mm/s]) 5 + i·12 12 + i·28 meas_y int32_t * Measurement y axis (for example, [mm/s]) 6 + i·12 16 + i·28 meas_z int32_t * Measurement z axis (for example, [mm/s]) 7 + i·12 20 + i·28 meas_x_valid uint8_t - Validity of meas_x (1 = valid data, 0 = invalid data or n/a) 8 + i·12 21 + i·28 meas_y_valid uint8_t - Validity of meas_y (1 = valid data, 0 = invalid data or n/a) 9 + i·12 22 + i·28 meas_z_valid uint8_t - Validity of meas_z (1 = valid data, 0 = invalid data or n/a) 10 + i·12 23 + i·28 meas_type uint8_t - Type of measurement (see below) 11 + i·12 24 + i·28 meas_loc uint8_t - Location of measurement (see below) 12 + i·12 25 + i·28 reserved1 uint8_t[4] - Reserved for future use. Set to 0. 13 + i·12 29 + i·28 timestamp_type uint8_t - Type of timestamp (see below) 14 + i·12 30 + i·28 gps_wno uint16_t - GPS week number 15 + i·12 32 + i·28 gps_tow uint32_t * GPS time of week [ms] or monotonic time [-] Valid meas_type values are: Value Description 0 Unspecified 1 Velocity (wheel speed) Valid meas_loc values are: Value Description 0 Unspecified 1 Measurement of a sensor at the rear-center (RC) 2 Measurement of a sensor at the front-right (FR) 3 Measurement of a sensor at the front-left (FL) 4 Measurement of a sensor at the rear-right (RR) 5 Measurement of a sensor at the rear-left (RL) Valid timestamp_type values are: Value Description 0 Unspecified 1 Use time of arrival of the measurement (ignore gps_wno and gps_tow) 2 Use monotonic time [any] (stored in the gps_tow field) 3 Use GPS time (stored in gps_wno [-] and gps_tow [ms] fields)
enum class	fpsdk::common::parser::fpb::FpbMeasurementsMeasType : uint8_t { fpsdk::common::parser::fpb::UNSPECIFIED = 0 , fpsdk::common::parser::fpb::VELOCITY = 1 }
	FP_B-MEASUREMENTS measurement type. More...
enum class	fpsdk::common::parser::fpb::FpbMeasurementsMeasLoc : uint8_t {   fpsdk::common::parser::fpb::UNSPECIFIED = 0 , fpsdk::common::parser::fpb::RC = 1 , fpsdk::common::parser::fpb::FR = 2 , fpsdk::common::parser::fpb::FL = 3 ,   fpsdk::common::parser::fpb::RR = 4 , fpsdk::common::parser::fpb::RL = 5 }
	FP_B-MEASUREMENTS measurement location. More...
enum class	fpsdk::common::parser::fpb::FpbMeasurementsTimestampType : uint8_t { fpsdk::common::parser::fpb::UNSPECIFIED = 0 , fpsdk::common::parser::fpb::TIMEOFARRIVAL = 1 , fpsdk::common::parser::fpb::MONOTONIC = 2 , fpsdk::common::parser::fpb::GPS = 3 }
	FP_B-MEASUREMENTS timestamp type. More...
static constexpr uint8_t	fpsdk::common::parser::fpb::FP_B_MEASUREMENTS_V1 = 0x01
	FP_B-MEASUREMENTS.version value.
static constexpr std::size_t	fpsdk::common::parser::fpb::FP_B_MEASUREMENTS_HEAD_SIZE = 8
	FP_B-MEASUREMENTS payload head size.
static constexpr std::size_t	fpsdk::common::parser::fpb::FP_B_MEASUREMENTS_MEAS_SIZE = 28
	Size of FpbMeasurementsMeas.
static constexpr std::size_t	fpsdk::common::parser::fpb::FP_B_MEASUREMENTS_MAX_NUM_MEAS = 10
	Maximum number of measurements.

Detailed Description

Fixposition SDK: Parser FP_B routines and types.

* ___    ___
* \  \  /  /
*  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
*  /  /\  \   License: see the LICENSE file
* /__/  \__\
*
* Based on work by flipflip (https://github.com/phkehl)
* 

Definition in file fpb.hpp.