cframe.c File Reference

#include <config.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include "debug.h"
#include <cartcomm/cframe.h>
#include <cartcomm/nmea.h>
#include <cartcomm/comm.h>

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Defines
#define	DEBUG_LEVEL   1
#define	APPEND(fmt, val)   sprintf(field, fmt, val); strcat(msg, field);
#define	PRINT()   fprintf(file, "\t" __VA_ARGS__); fputc('\n', file);
Functions
int	parse_msg (cframe_t *cf, char *msg)
int	cartcomm_encode_msg (cframe_t *cf, char *outMsg)
	Encode the control frame as a message string.
int	cartcomm_decode_msg (cframe_t *cf, char *inMsg)
	Decode the message into a control frame.
void	print_cframe (FILE *file, cframe_t *cf)
	Print a control frame in a human readable form.

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Define Documentation

#define APPEND (  fmt, val   )     sprintf(field, fmt, val); strcat(msg, field);

Referenced by cartcomm_encode_msg().

#define DEBUG_LEVEL   1

Definition at line 8 of file cframe.c.

#define PRINT (   )     fprintf(file, "\t" __VA_ARGS__); fputc('\n', file);

Referenced by print_cframe().

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Function Documentation

int cartcomm_decode_msg (  cframe_t *  cf, char *  inMsg )

Decode the message into a control frame. Parameters: cf  control frame to decode into inMsg  buffer to decode Return values: 0  success -1  failure Definition at line 126 of file cframe.c. References cframe_t, cframe::checksum, DEBUG2, DEBUG3, cframe::msg_len, and parse_msg(). Referenced by cartcomm_encode_msg(), cartcomm_synchronize(), and drive().

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int cartcomm_encode_msg (  cframe_t *  cf, char *  outMsg )

Encode the control frame as a message string. Parameters: cf  control frame to encode outMsg  buffer to encode into Return values: 0  success -1  failure Definition at line 43 of file cframe.c. References APPEND, ASSERT_EQUAL, cartcomm_decode_msg(), cframe_t, cframe::cmd_irad, cframe::cmd_mode, cframe::cmd_speed, cframe::cur_irad, cframe::cur_mode, cframe::cur_speed, cframe::cur_throttle, DEBUG3, deg_to_nmea(), cframe::error_code, cframe::gps_epe, cframe::gps_lat, cframe::gps_lon, cframe::gps_speed_east, cframe::gps_speed_north, cframe::gps_status, cframe::seqno, cframe::speed_limit_error, cframe::status, cframe::steer_limit_error, and cframe::timestamp. Referenced by drive().

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int parse_msg (  cframe_t *  cf, char *  msg )

Definition at line 1741 of file cframe_parser.c. References cframe_delete_buffer(), cframe_scan_string(), cframe_t, YY_BUFFER_STATE, and yyparse. Referenced by cartcomm_decode_msg().

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void print_cframe (  FILE *  file, cframe_t *  cf )

Print a control frame in a human readable form. Parameters: file  file handle to output towards cf  control frame to output Definition at line 161 of file cframe.c. References cframe_t, cframe::cmd_irad, cframe::cmd_mode, cframe::cmd_speed, cframe::cur_irad, cframe::cur_mode, cframe::cur_speed, cframe::cur_throttle, cframe::error_code, cframe::gps_epe, cframe::gps_lat, cframe::gps_lon, cframe::gps_speed_east, cframe::gps_speed_north, cframe::gps_status, PRINT, cframe::seqno, cframe::speed_limit_error, cframe::status, cframe::steer_limit_error, and cframe::timestamp.

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