Skip to content

Commit

Permalink
deploy: 2f282ac
Browse files Browse the repository at this point in the history
  • Loading branch information
@Chi-EEE
Chi-EEE committed Oct 9, 2023
1 parent 711d5c3 commit b504f8d
Show file tree
Hide file tree
Showing 66 changed files with 3,556 additions and 4 deletions.
138 changes: 138 additions & 0 deletions doxygen/ExpressPacket_8hpp_source.html
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,138 @@
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.9.5"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Car Application Backend: src/ExpressPacket.hpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr id="projectrow">
<td id="projectalign">
<div id="projectname">Car Application Backend<span id="projectnumber">&#160;0.1</span>
</div>
<div id="projectbrief">The backend REST API for the Car</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.5 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
var searchBox = new SearchBox("searchBox", "search/",'.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(function() {
initMenu('',true,false,'search.php','Search');
$(document).ready(function() { init_search(); });
});
/* @license-end */
</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<div id="MSearchResults">
<div class="SRPage">
<div id="SRIndex">
<div id="SRResults"></div>
<div class="SRStatus" id="Loading">Loading...</div>
<div class="SRStatus" id="Searching">Searching...</div>
<div class="SRStatus" id="NoMatches">No Matches</div>
</div>
</div>
</div>
</div>

<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">ExpressPacket.hpp</div></div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="preprocessor">#ifndef EXPRESSPACKET_H</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="preprocessor">#define EXPRESSPACKET_H</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span> </div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span> </div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="preprocessor">#include &lt;tuple&gt;</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="preprocessor">#include &lt;stdexcept&gt;</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="classExpressPacket.html"> 10</a></span><span class="keyword">class </span><a class="code hl_class" href="classExpressPacket.html">ExpressPacket</a> {</div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">static</span> <span class="keyword">const</span> uint8_t sync1 = 0xa;</div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">static</span> <span class="keyword">const</span> uint8_t sync2 = 0x5;</div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span> </div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span> <a class="code hl_class" href="classExpressPacket.html">ExpressPacket</a>(std::vector&lt;uint8_t&gt; data) {</div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span> <span class="keywordflow">if</span> ((data[0] &gt;&gt; 4) != sync1 || (data[1] &gt;&gt; 4) != sync2) {</div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span> <span class="keywordflow">throw</span> std::invalid_argument(<span class="stringliteral">&quot;try to parse corrupted data&quot;</span>);</div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span> }</div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span> </div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span> uint8_t checksum = 0;</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span> <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 2; i &lt; data.size(); i++) {</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span> checksum ^= data[i];</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span> }</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span> <span class="keywordflow">if</span> (checksum != ((data[0] &amp; 0x0F) + ((data[1] &amp; 0x0F) &lt;&lt; 4))) {</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span> <span class="keywordflow">throw</span> std::invalid_argument(<span class="stringliteral">&quot;Invalid checksum&quot;</span>);</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> }</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> new_scan = (data[2] &gt;&gt; 7) &amp; 0x01;</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> start_angle = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>((data[1] &amp; 0x0F) &lt;&lt; 8 | data[2]) / 64.0f;</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 4; i &lt; data.size(); i += 5) {</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> distance.push_back(((data[i + 1] &gt;&gt; 2) &amp; 0x3F) | ((data[i] &amp; 0x3F) &lt;&lt; 6));</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> angle.push_back((((data[i + 3] &amp; 0x0F) + ((data[i + 1] &amp; 0x01) &lt;&lt; 4)) / 8.0f) * getSign(data[i + 1]));</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> distance.push_back(((data[i + 2] &gt;&gt; 2) &amp; 0x3F) | ((data[i + 1] &amp; 0x3F) &lt;&lt; 6));</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> angle.push_back((((data[i + 3] &gt;&gt; 4) &amp; 0x0F) + ((data[i + 2] &amp; 0x01) &lt;&lt; 4)) / 8.0f * getSign(data[i + 2]));</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> }</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> }</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">static</span> <span class="keywordtype">int</span> getSign(uint8_t value) {</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <span class="keywordflow">return</span> (value &amp; 0x02) ? -1 : 1;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> }</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> std::vector&lt;uint16_t&gt; distance;</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> std::vector&lt;float&gt; angle;</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <span class="keywordtype">bool</span> new_scan;</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="keywordtype">float</span> start_angle;</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span>};</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassExpressPacket_html"><div class="ttname"><a href="classExpressPacket.html">ExpressPacket</a></div><div class="ttdef"><b>Definition:</b> ExpressPacket.hpp:10</div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
</small></address>
</body>
</html>
Loading

0 comments on commit b504f8d

Please sign in to comment.