[VN300] Moved checksum options and other functions inside VNCommon.

src/shared/sensors/Vectornav/VN300/VN300.cpp

@@ -34,9 +34,9 @@ VN300::VN300(USART &usart, int userBaudRate,
              const VN300Defs::AntennaPosition antPosA,
              const VN300Defs::AntennaPosition antPosB,
              const Eigen::Matrix3f rotMat)
-    : VNCommonSerial(usart, userBaudRate, "VN300"),
-      samplingMethod(samplingMethod), crc(crc), antPosA(antPosA),
-      antPosB(antPosB), rotMat(rotMat)
+    : VNCommonSerial(usart, userBaudRate, "VN300", crc),
+      samplingMethod(samplingMethod), antPosA(antPosA), antPosB(antPosB),
+      rotMat(rotMat)
 {
 }
 
@@ -397,12 +397,6 @@ VN300Data VN300::sampleASCII()
     return VN300Data(quat, mag, acc, gyro, ins);
 }
 
-bool VN300::asyncPause()
-{
-    usart.writeString("$VNASY,0*XX\n");
-    return true;
-}
-
 bool VN300::disableAsyncMessages(bool waitResponse)
 {
     // Command string
@@ -1183,62 +1177,4 @@ uint8_t VN300::checkErrorVN(const char *message)
     return 0;  // No error detected
 }
 
-bool VN300::verifyChecksum(char *command, int length)
-{
-    int checksumOffset = 0;
-
-    // I look for the checksum position
-    while (checksumOffset < length && command[checksumOffset] != '*')
-    {
-        checksumOffset++;
-    }
-
-    if (checksumOffset == length)
-    {
-        // The command doesn't have any checksum
-        TRACE("No checksum in the command!\n");
-        return false;
-    }
-
-    // Check based on the user selected crc type
-    if (crc == CRCOptions::CRC_ENABLE_16)
-    {
-        if (length != checksumOffset + 5)  // 4 hex chars + 1 of position
-        {
-            TRACE("16 bit Checksum wrong length: %d != %d --> %s\n", length,
-                  checksumOffset + 5, command);
-            return false;
-        }
-
-        // Calculate the checksum and verify (comparison between numerical
-        // checksum to avoid string bugs e.g 0856 != 865)
-        if (strtol(command + checksumOffset + 1, NULL, 16) !=
-            calculateChecksum16((uint8_t *)(command + 1), checksumOffset - 1))
-        {
-            TRACE("Different checksum: %s\n", command);
-            return false;
-        }
-    }
-    else if (crc == CRCOptions::CRC_ENABLE_8)
-    {
-        if (length != checksumOffset + 3)  // 2 hex chars + 1 of position
-        {
-            TRACE("8 bit Checksum wrong length: %d != %d --> %s\n", length,
-                  checksumOffset + 3, command);
-            return false;
-        }
-
-        // Calculate the checksum and verify (comparison between numerical
-        // checksum to avoid string bugs e.g 0856 != 865)
-        if (strtol(command + checksumOffset + 1, NULL, 16) !=
-            calculateChecksum8((uint8_t *)(command + 1), checksumOffset - 1))
-        {
-            TRACE("Different checksum: %s\n", command);
-            return false;
-        }
-    }
-
-    return true;
-}
-
 }  // namespace Boardcore

src/shared/sensors/Vectornav/VN300/VN300.h

@@ -74,14 +74,6 @@ namespace Boardcore
 class VN300 : public Sensor<VN300Data>, public VNCommonSerial
 {
 public:
-    enum class CRCOptions : uint8_t
-    {
-        CRC_ENABLE_8  = 0x08,
-        CRC_ENABLE_16 = 0x10
-        // TODO: add CRC_NO (handled by adding XX at the end of a command inside
-        // sendStringCommand())
-    };
-
     /**
      * @brief Constructor.
      *
@@ -127,14 +119,6 @@ private:
     bool findBaudrate();
     // TODO: should we keep it? maybe in common files?
 
-    /**
-     * @brief pause asynchronous messages
-     *
-     * @return True if operation succeeded.
-     */
-    bool asyncPause();
-    // TODO: should we keep it? not needed with vn100... with vn300?
-
     /**
      * @brief Disables the async messages that the VN300 is default configured
      * to send at 40Hz on startup.
@@ -300,24 +284,12 @@ private:
     // TODO: used only 1 time to infer the type of error, all other times is
     // "check if ==VNERR" ... can be replaced with a function in common files?
 
-    /**
-     * @brief Method to verify the crc validity of a command.
-     *
-     * @param command The char array which contains the command.
-     * @param maxLength Maximum length for the command array.
-     *
-     * @return True if operation succeeded.
-     */
-    bool verifyChecksum(char *command, int maxLength);
-    // TODO: put in common files
-
     /**
      * @brief Default baudrate value for the usart communication.
      */
     static const int defaultBaudRate = 115200;
 
     VN300Defs::SamplingMethod samplingMethod;
-    CRCOptions crc;
     bool isInit = false;
 
     VN300Defs::AntennaPosition antPosA;

src/shared/sensors/Vectornav/VNCommonSerial.cpp

@@ -28,8 +28,8 @@ namespace Boardcore
 {
 
 VNCommonSerial::VNCommonSerial(USART &usart, int baudrate,
-                               const std::string &sensorName)
-    : sensorName(sensorName), usart(usart), baudRate(baudrate),
+                               const std::string &sensorName, CRCOptions crc)
+    : sensorName(sensorName), usart(usart), baudRate(baudrate), crc(crc),
       logger(Logging::getLogger(sensorName))
 {
 }
@@ -69,6 +69,64 @@ uint16_t VNCommonSerial::calculateChecksum16(const uint8_t *message, int length)
     return result;
 }
 
+bool VNCommonSerial::verifyChecksum(char *command, int length)
+{
+    int checksumOffset = 0;
+
+    // I look for the checksum position
+    while (checksumOffset < length && command[checksumOffset] != '*')
+    {
+        checksumOffset++;
+    }
+
+    if (checksumOffset == length)
+    {
+        // The command doesn't have any checksum
+        TRACE("No checksum in the command!\n");
+        return false;
+    }
+
+    // Check based on the user selected crc type
+    if (crc == CRCOptions::CRC_ENABLE_16)
+    {
+        if (length != checksumOffset + 5)  // 4 hex chars + 1 of position
+        {
+            TRACE("16 bit Checksum wrong length: %d != %d --> %s\n", length,
+                  checksumOffset + 5, command);
+            return false;
+        }
+
+        // Calculate the checksum and verify (comparison between numerical
+        // checksum to avoid string bugs e.g 0856 != 865)
+        if (strtol(command + checksumOffset + 1, NULL, 16) !=
+            calculateChecksum16((uint8_t *)(command + 1), checksumOffset - 1))
+        {
+            TRACE("Different checksum: %s\n", command);
+            return false;
+        }
+    }
+    else if (crc == CRCOptions::CRC_ENABLE_8)
+    {
+        if (length != checksumOffset + 3)  // 2 hex chars + 1 of position
+        {
+            TRACE("8 bit Checksum wrong length: %d != %d --> %s\n", length,
+                  checksumOffset + 3, command);
+            return false;
+        }
+
+        // Calculate the checksum and verify (comparison between numerical
+        // checksum to avoid string bugs e.g 0856 != 865)
+        if (strtol(command + checksumOffset + 1, NULL, 16) !=
+            calculateChecksum8((uint8_t *)(command + 1), checksumOffset - 1))
+        {
+            TRACE("Different checksum: %s\n", command);
+            return false;
+        }
+    }
+
+    return true;
+}
+
 void VNCommonSerial::clearBuffer()
 {
     char c;
@@ -77,4 +135,10 @@ void VNCommonSerial::clearBuffer()
     }
 }
 
+bool VNCommonSerial::asyncPause()
+{
+    usart.writeString("$VNASY,0*XX\n");
+    return true;
+}
+
 }  // namespace Boardcore

src/shared/sensors/Vectornav/VNCommonSerial.h

@@ -33,7 +33,15 @@ namespace Boardcore
 class VNCommonSerial
 {
 public:
-    VNCommonSerial(USART &usart, int baudrate, const std::string &sensorName);
+    enum class CRCOptions : uint8_t
+    {
+        CRC_NO        = 0x00,
+        CRC_ENABLE_8  = 0x08,
+        CRC_ENABLE_16 = 0x10
+    };
+
+    VNCommonSerial(USART &usart, int baudrate, const std::string &sensorName,
+                   CRCOptions crc);
 
     ~VNCommonSerial();
 
@@ -64,6 +72,16 @@ protected:
      */
     uint16_t calculateChecksum16(const uint8_t *message, int length);
 
+    /**
+     * @brief Method to verify the crc validity of a command.
+     *
+     * @param command The char array which contains the command.
+     * @param maxLength Maximum length for the command array.
+     *
+     * @return True if operation succeeded.
+     */
+    bool verifyChecksum(char *command, int maxLength);
+
     /**
      * @brief Clear the buffer of the serial interface.
      *
@@ -73,6 +91,13 @@ protected:
     void clearBuffer();
     // TODO: remove and use the one in the usart driver
 
+    /**
+     * @brief Pause asynchronous messages
+     *
+     * @return True if operation succeeded.
+     */
+    bool asyncPause();
+
     /**
      * @brief Serial interface that is needed to communicate
      * with the sensor via ASCII codes.
@@ -80,6 +105,8 @@ protected:
     USART &usart;
     int baudRate;
 
+    CRCOptions crc;
+
     PrintLogger logger;
 };