Decoder.h

00001 /**
00002  * @file Decoder.h
00003  *
00004  * @author Adrian
00005  * @date 16.05.2016
00006  */
00007 
00008 #ifndef APP_DECODER_H_
00009 #define APP_DECODER_H_
00010 
00011 #include <RawSerial.h>
00012 
00013 #define HEADER_LENGHT 2
00014 #define ID_LENGHT 2
00015 #define LENGHT_LENGHT 2
00016 #define PAYLOAD_LENGHT 28
00017 #define CRC_LENGHT 2
00018 #define MESSAGE_LENGHT (HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+PAYLOAD_LENGHT+CRC_LENGHT)
00019 
00020 /**
00021  * States in which the Decoder can be
00022  */
00023 enum DecoderState{
00024     INIT = 0,//!< INIT
00025     RECEIVE, //!< RECEIVE
00026     DECODE,  //!< DECODE
00027 };
00028 
00029 /**
00030  * Container that can hold GPS Information
00031  */
00032 typedef struct POSLHH{
00033     unsigned long iTOW;
00034     long lon;
00035     long lat;
00036     long height;
00037     long hMSL;
00038     unsigned long hAcc;
00039     unsigned long vAcc;
00040 }POSLHH;
00041 
00042 /**
00043  * @class Decoder
00044  * @brief This Class is used to decode the byte stream thats sent from the uBlox. At the moment
00045  * it only decodes the NAV-POLLSH byte stream. For correct usage all other messages of the uBlox
00046  * needs to be deactivated or at least the NAV-POLLSH needs to be activated
00047  */
00048 class Decoder {
00049 public:
00050     Decoder(mbed::RawSerial*);
00051     virtual ~Decoder();
00052 
00053     /**
00054      * @brief Gets the actual State in which the decoder is
00055      * @return
00056      */
00057     DecoderState getActualState();
00058 
00059     /**
00060      * @brief Gets the receive Buffer in which all received Bytes from the NAV-POLLSH are
00061      * stored
00062      * @return
00063      */
00064     char* getReceiveBuffer();
00065 
00066     /**
00067      * @brief Gets the last successfully decoded NAV-POLLSH Bytestream
00068      * @return
00069      */
00070     POSLHH getLastPoslhh();
00071 
00072 private:
00073     DecoderState actualState;
00074     mbed::RawSerial* serial;
00075     char lastReceivedChar;
00076     POSLHH lastPoslhh;
00077     char receiveBuffer[MESSAGE_LENGHT];
00078     int bufferPosition;
00079 
00080     /**
00081      * @brief Sets the actual State of the Decoder
00082      * @param actualState
00083      */
00084     void setActualState(DecoderState actualState);
00085 
00086     /**
00087      * @brief Gets the latest character from the serial internal buffer
00088      */
00089     void getCharacterFromSerial();
00090 
00091     /**
00092      * @brief Checks if the specific Char was the last received Char
00093      * @param specificChar
00094      * @return
00095      */
00096     bool hasReceived(char specificChar);
00097 
00098     /**
00099      * @brief Buffers the last received Char at the beginning of the buffer
00100      */
00101     void bufferReceivedCharacterAtBegin();
00102 
00103     /**
00104      * @brief Buffers the last received char at the actual position of the buffer
00105      */
00106     void bufferReceivedCharacter();
00107 
00108     /**
00109      * @brief Checks if the whole buffer is filled up
00110      * @return
00111      */
00112     bool isBufferFilled();
00113 
00114     /**
00115      * @brief The Decoding routing thats called when some Data is recieved via the serial
00116      */
00117     void rxInterrupt();
00118 
00119     /**
00120      * @brief Sets the position where the next Byte should be stored inside the buffer
00121      * @param desiredPosition
00122      */
00123     void setBufferPosition(uint8_t desiredPosition);
00124 
00125     /**
00126      * @brief Increments the position where the next Byte should be stored by 1
00127      */
00128     void incrementBufferPosition();
00129 
00130     /**
00131      * @brief Clears the whole buffer
00132      */
00133     void clearReceiveBuffer();
00134 
00135     /**
00136      * @brief Decodes the whole buffer
00137      */
00138     void decodeReceiveBuffer();
00139 };
00140 
00141 #endif /* APP_DECODER_H_ */