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52 lines
1.6 KiB
52 lines
1.6 KiB
#pragma once
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#include <cstdint>
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#include <memory>
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#include <string>
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#include <unordered_map>
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#include "cereal/messaging/messaging.h"
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#include "selfdrive/locationd/generated/gps.h"
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#include "selfdrive/locationd/generated/ubx.h"
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// protocol constants
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namespace ublox {
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const uint8_t PREAMBLE1 = 0xb5;
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const uint8_t PREAMBLE2 = 0x62;
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const int UBLOX_HEADER_SIZE = 6;
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const int UBLOX_CHECKSUM_SIZE = 2;
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const int UBLOX_MAX_MSG_SIZE = 65536;
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// Boardd still uses these:
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const uint8_t CLASS_NAV = 0x01;
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const uint8_t CLASS_RXM = 0x02;
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const uint8_t CLASS_MON = 0x0A;
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}
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class UbloxMsgParser {
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public:
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bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed);
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inline void reset() {bytes_in_parse_buf = 0;}
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inline int needed_bytes();
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inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);}
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std::pair<std::string, kj::Array<capnp::word>> gen_msg();
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kj::Array<capnp::word> gen_nav_pvt(ubx_t::nav_pvt_t *msg);
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kj::Array<capnp::word> gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg);
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kj::Array<capnp::word> gen_rxm_rawx(ubx_t::rxm_rawx_t *msg);
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kj::Array<capnp::word> gen_mon_hw(ubx_t::mon_hw_t *msg);
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kj::Array<capnp::word> gen_mon_hw2(ubx_t::mon_hw2_t *msg);
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private:
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inline bool valid_cheksum();
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inline bool valid();
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inline bool valid_so_far();
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std::unordered_map<int, std::unordered_map<int, std::string>> gps_subframes;
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size_t bytes_in_parse_buf = 0;
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uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE];
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};
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