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vnproglib/c/include/vn/protocol/upackf.h

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+#ifndef VNUPACKF_H_INCLUDED
+#define VNUPACKF_H_INCLUDED
+
+#include "vn/protocol/upack.h"
+
+/*#include "vnint.h"*/
+/*#include "vnbool.h"*/
+/*#include "vntypes.h"
+#include "vnerror.h"*/
+
+
+#ifndef VNUART_PROTOCOL_BUFFER_SIZE
+	/** Default internal buffers size for handling received UART data. */
+	#define VNUART_PROTOCOL_BUFFER_SIZE 256
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** \brief Defines signature of functions that can handle callback
+*  notifications of packets successfully received and validated from a
+*  VectorNav sensor. */
+typedef void(*VnUartPacketFinder_PacketFoundHandler)(void *userData, VnUartPacket* packet, size_t runningIndexOfPacketStart);
+
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4820)
+#endif
+
+/** \brief Data structure holding current parsing status of data received from
+ *  a VectorNav sensor.
+ *
+ * This structure contains a buffer which will hold bytes that are currently
+ * being processed. The size of this buffer can be adjusted by defining the
+ * size using the preprocesser. For example, the size can be adjusted to use
+ * 1024 bytes by defining VNUART_PROTOCOL_BUFFER_SIZE=1024. */
+typedef struct
+{
+	/** \brief Callback for when a packet has been found and validated. */
+	VnUartPacketFinder_PacketFoundHandler packetFoundHandler;
+
+	/** \brief User data for callbacks on the packetFoundHandler. */
+	void *packetFoundHandlerUserData;
+
+	/** \brief Used for correlating the position in the received raw data
+	*   stream where packets are found.	*/
+	size_t runningDataIndex;
+
+	/** \brief Indicates if an ASCII packet is currently being built. */
+	bool asciiCurrentlyBuildingPacket;
+
+	/** \brief Indicates a suspected start of an ASCII packet. */
+	size_t asciiPossibleStartOfPacketIndex;
+
+	/** \brief Index of start of ASCII packet in total running index. */
+	size_t asciiRunningDataIndexOfStart;
+
+	/** \brief Indicates if the first ending character has been found. */
+	bool asciiEndChar1Found;
+
+	/** \brief Indicates if we are currently building a binary packet. */
+	bool binaryCurrentlyBuildingBinaryPacket;
+
+	/** \brief Index of start of binary packet in total running index. */
+	size_t binaryRunningDataIndexOfStart;
+
+	/** \brief Holds the size of the receive buffer. */
+	size_t bufferSize;
+
+	/** \brief The current location to append data into the buffer. */
+	size_t bufferAppendLocation;
+
+	/** \brief Indicates if we have found the groups present data field for a
+	 *  binary packet we are building. */
+	bool binaryGroupsPresentFound;
+
+	/** \brief The groups present found from a binary packet. */
+	uint8_t binaryGroupsPresent;
+
+	/** \brief Indicates the number of bytes remaining to have all group fields
+	 *  for a binary data packet we are processing. */
+	uint8_t binaryNumOfBytesRemainingToHaveAllGroupFields;
+
+	/** \brief Start index of a possible binary packet. */
+	size_t binaryPossibleStartIndex;
+
+	/** \brief Keeps track of the number of bytes remaining for a complete
+	 *  binary packet. */
+	size_t binaryNumberOfBytesRemainingForCompletePacket;
+
+	/** \brief The receive buffer. */
+	uint8_t receiveBuffer[VNUART_PROTOCOL_BUFFER_SIZE];
+
+} VnUartPacketFinder;
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+
+/** \brief Initializes the VnUartPacketFinder data structure.
+*
+* \param[in] pf VnUartPacketFinder to init. */
+void VnUartPacketFinder_initialize(VnUartPacketFinder* pf);
+
+/** \brief Processes received data from the UART.
+*
+* \param[in] finder The associated VnUartPacketFinder containing the data
+*     processing state.
+* \param[in] data The received data.
+* \param[in] len The number of bytes to process.
+* \param[in] bootloaderFilter Enable filtering for bootloader messages. */
+VnError VnUartPacketFinder_processData_ex(VnUartPacketFinder* finder, uint8_t* data, size_t len, bool bootloaderFilter);
+VnError VnUartPacketFinder_processData(VnUartPacketFinder* finder, uint8_t* data, size_t len);
+
+
+/** \brief Allows registering for notification of when valid packets are found.
+ *
+ * \param[in] handler The callback function for receiving notifications.
+ * \param[in] userData Pointer to user supplied data which will be sent on all callback notifications.
+ * \return Any errors encountered. */
+VnError VnUartPacketFinder_registerPacketFoundHandler(VnUartPacketFinder* finder, VnUartPacketFinder_PacketFoundHandler handler, void *userData);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif