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FastrakParser

Namespace: UTILSLIB  ·  Library: Utilities Library

#include <utils/fastrak_parser.h>

class UTILSLIB::FastrakParser

Streaming parser for Fastrak / FastSCAN ASCII records.

Thread-affine: the caller is responsible for serialising calls. No heap allocations on the hot path other than the internal buffer.

src/examples/ex_utils/main.cpp
FastrakParser parser;
parser.setUnits(FastrakParser::Units::Centimetres);
parser.append("01   12.50  -3.25   8.00\r\n02  1.0"); // the second record is still incomplete
FastrakSample sample;
const bool complete = parser.nextSample(sample);
const bool pending = parser.nextSample(sample);

Public Methods​

FastrakParser()​

setUnits(units)​

Configure the linear unit reported by the device.

Parameters:

  • units : Units Unit of incoming positions; samples are converted to metres.

units()​

append(chunk)​

Append raw bytes received from the serial port.

Parameters:

  • chunk : const QByteArray & Raw bytes to append to the internal buffer; may contain partial records.

nextSample(out)​

Pop the next fully-decoded sample, if any.

Parameters:

  • out : FastrakSample & Receives the decoded sample; malformed lines are skipped.

Returns:

  • bool — true when out was populated; false when the buffer does not yet contain a complete record.

reset()​

Reset accumulated buffer state.

Static Methods​

parseRecord(record, units, out)​

Parse one record line (without trailing CR/LF) — exposed for unit tests and for callers that pre-frame their data.

Parameters:

  • record : const QByteArray & One ASCII record: station, x, y, z, and optional Euler angles or quaternion.

  • units : Units Unit of the positions in record.

  • out : FastrakSample & Receives the decoded sample with the position in metres.

Returns:

  • bool — true on success; false on malformed input.

Example​

Used in examples​

ex_utils​

Utilities library: buffers, observers, logging, file formats, montages, layouts and reports.

src/examples/ex_utils/main.cpp, line 254
FastrakParser parser;
parser.setUnits(FastrakParser::Units::Centimetres);
parser.append("01   12.50  -3.25   8.00\r\n02  1.0"); // the second record is still incomplete
FastrakSample sample;
const bool complete = parser.nextSample(sample);
const bool pending = parser.nextSample(sample);
ok &= expect(complete && !pending && sample.station == 1 && std::fabs(sample.position.x() - 0.125f) < 1e-6f && std::fabs(sample.position.y() + 0.0325f) < 1e-6f,
             "FastrakParser converts centimetres to metres and waits for the partial record");

Authors of this file​