Fixed TCP/UART message handling

fixposition_driver_lib/include/fixposition_driver_lib/fixposition_driver.hpp

@@ -149,8 +149,8 @@ class FixpositionDriver {
     int client_fd_ = -1;  //!< TCP or Serial file descriptor
     int connection_status_ = -1;
     struct termios options_save_;
-    //uint8_t readBuf[8192];
-    //int buf_size = 0;
+    uint8_t readBuf[8192];
+    int buf_size = 0;
 };
 }  // namespace fixposition
 #endif  //__FIXPOSITION_DRIVER_LIB_FIXPOSITION_DRIVER__

fixposition_driver_lib/src/fixposition_driver.cpp

@@ -257,66 +257,90 @@ bool FixpositionDriver::RunOnce() {
 }
 
 bool FixpositionDriver::ReadAndPublish() {
-    char readBuf[8192];
-
-    ssize_t rv;
-    if (params_.fp_output.type == INPUT_TYPE::TCP) {
-        rv = recv(client_fd_, (void*)&readBuf, sizeof(readBuf), MSG_DONTWAIT);
-    } else if (params_.fp_output.type == INPUT_TYPE::SERIAL) {
-        rv = read(client_fd_, (void*)&readBuf, sizeof(readBuf));
-    } else {
-        rv = 0;
-    }
-
-    if (rv == 0) {
-        std::cerr << "Connection closed.\n";
-        return false;
-    }
-
-    if (rv < 0 && errno == EAGAIN) {
-        /* no data for now, call back when the socket is readable */
-        return true;
-    }
-    if (rv < 0) {
-        std::cerr << "Connection error.\n";
-        return false;
-    }
-
-    ssize_t start_id = 0;
-    while (start_id < rv) {
-        int msg_size = 0;
-        // Nov B
-        msg_size = IsNovMessage((uint8_t*)&readBuf[start_id], rv - start_id);
+    int msg_size = 0;
+
+    // Extract messages until the buffer is empty
+    while (buf_size > 0) {
+        // Check whether the message is NOV_B
+        msg_size = IsNovMessage(readBuf, buf_size);
+
+        // a) Message is NOV_B --> Process message and remove it from the buffer
         if (msg_size > 0) {
-            NovConvertAndPublish((uint8_t*)&readBuf[start_id]);
-            start_id += msg_size;
-            continue;
+            NovConvertAndPublish(readBuf);
+            buf_size -= msg_size;
+            if (buf_size > 0) {
+                memmove(readBuf, &readBuf[msg_size], buf_size);
+            }
+            // Look for new messages in the buffer
         }
-        if (msg_size == 0) {
-            // do nothing
+
+        // b) Message is not NOV_B. Check whether it is NMEA/FP_A
+        else if (msg_size == 0) {
+            msg_size = IsNmeaMessage((char*)readBuf, buf_size);
+
+            // Message is NMEA/FP_A --> Process message and remove it from the buffer
+            if (msg_size > 0) {
+                NmeaConvertAndPublish({(const char*)readBuf, (const char*)readBuf + msg_size});
+                buf_size -= msg_size;
+                if (buf_size > 0) {
+                    memmove(readBuf, &readBuf[msg_size], buf_size);
+                }
+                // Look for new messages in the buffer
+            }
+
+            // Message is neither NMEA/FP_A or NOV_B --> Remove one byte from the buffer and try again until it is empty
+            else if (msg_size == 0) {
+                if (buf_size > 0) {
+                    buf_size -= 1;
+                    memmove(readBuf, &readBuf[1], buf_size);
+                }
+
+                // Buffer is empty --> Wait for more data
+                else /* buf_size == 0 */ {
+                    break;
+                }
+            }
+
+            // NMEA message might be incomplete --> Wait for more data
+            else /* msg_size < 0 */ {
+                break;
+            }
         }
-        if (msg_size < 0) {
+
+        // c) NOV_B message might be incomplete --> Wait for more data
+        else /* msg_size < 0 */ {
             break;
         }
+    }
 
-        // Nmea (incl. FP_A)
-        msg_size = IsNmeaMessage(&readBuf[start_id], rv - start_id);
-        if (msg_size > 0) {
-            // NovConvertAndPublish(start, msg_size);
-            std::string msg(&readBuf[start_id], msg_size);
-            NmeaConvertAndPublish(msg);
-            start_id += msg_size;
-            continue;
+    // Read more data from the TCP/Serial port
+    int rem_size = sizeof(readBuf) - buf_size;
+    if (rem_size > 0) {
+        ssize_t rv;
+        if (params_.fp_output.type == INPUT_TYPE::TCP) {
+            rv = recv(client_fd_, (void*)&readBuf[buf_size], sizeof(readBuf) - buf_size, MSG_DONTWAIT);
+        } else if (params_.fp_output.type == INPUT_TYPE::SERIAL) {
+            rv = read(client_fd_, (void*)&readBuf[buf_size], sizeof(readBuf) - buf_size);
+        } else {
+            rv = 0;
         }
-        if (msg_size == 0) {
-            // do nothing
+
+        if (rv == 0) {
+            std::cerr << "Connection closed.\n";
+            return false;
         }
-        if (msg_size < 0) {
-            break;
+
+        if (rv < 0 && errno == EAGAIN) {
+            /* no data for now, call back when the socket is readable */
+            return true;
+        } 
+
+        if (rv < 0) {
+            std::cerr << "Connection error.\n";
+            return false;
         }
 
-        // No Match, increment by 1
-        ++start_id;
+        buf_size += rv;
     }
 
     return true;

fixposition_driver_ros1/launch/serial.yaml

@@ -6,7 +6,7 @@ fp_output:
              ]
     type: serial
     port: "/dev/ttyUSB0"
-    serial_baudrate: 115200
+    baudrate: 115200
     rate: 200
     reconnect_delay: 5.0 # wait time in [s] until retry connection
     cov_warning: false