RTCMParser.h

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#pragma once
 
#include <QtCore/QByteArray>
#include <QtCore/QSet>
#include <QtCore/QVector>
#include <cstddef>
#include <cstdint>
 
class RTCMParser
{
public:
    static constexpr uint8_t kPreamble = 0xD3;
 
    RTCMParser();
    void reset();
 
    void setWhitelist(const QVector<int>& ids) { _whitelist = QSet<int>(ids.begin(), ids.end()); }
 
    bool isWhitelisted(uint16_t id) const { return _whitelist.isEmpty() || _whitelist.contains(id); }
 
    bool addByte(uint8_t byte);
 
    uint8_t* message() { return _buffer; }
 
    uint16_t messageLength() const { return _messageLength; }
 
    uint16_t messageId() const;
 
    const uint8_t* crcBytes() const { return _crcBytes; }
 
    static constexpr int kCrcSize = 3;
    static constexpr int kHeaderSize = 3;
 
    bool validateCrc() const;
    static uint32_t crc24q(const uint8_t* data, size_t len);
 
    QByteArray currentFrame() const;
 
private:
    enum class State
    {
        WaitingForPreamble,
        ReadingLength,
        ReadingMessage,
        ReadingCRC
    };
 
    static constexpr uint16_t kMaxPayloadLength = 1023;
 
    QSet<int> _whitelist;
    State _state;
    uint8_t _buffer[kHeaderSize + kMaxPayloadLength];
    uint16_t _messageLength;
    uint16_t _bytesRead;
    uint16_t _lengthBytesRead;
    uint8_t _lengthBytes[2];
    uint16_t _crcBytesRead;
    uint8_t _crcBytes[3];
};