rtcm.cpp
2.58 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "rtcm.h"
#include <cstring>
RTCMParsing::RTCMParsing()
{
reset();
}
RTCMParsing::~RTCMParsing()
{
delete[] _buffer;
}
void RTCMParsing::reset()
{
if (!_buffer) {
_buffer = new uint8_t[RTCM_INITIAL_BUFFER_LENGTH];
_buffer_len = RTCM_INITIAL_BUFFER_LENGTH;
}
_pos = 0;
_message_length = _buffer_len;
}
bool RTCMParsing::addByte(uint8_t b)
{
if (!_buffer) {
return false;
}
_buffer[_pos++] = b;
if (_pos == 3) {
_message_length = (((uint16_t)_buffer[1] & 3) << 8) | (_buffer[2]);
if (_message_length + 6 > _buffer_len) {
uint16_t new_buffer_len = _message_length + 6;
uint8_t *new_buffer = new uint8_t[new_buffer_len];
if (!new_buffer) {
delete[](_buffer);
_buffer = nullptr;
return false;
}
memcpy(new_buffer, _buffer, 3);
delete[](_buffer);
_buffer = new_buffer;
_buffer_len = new_buffer_len;
}
}
return _message_length + 6 == _pos;
}