Resolved bug in json parsing

Author: evan-palmer

.github/workflows/docker.yml

@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - main
-      - develop
   pull_request:
     paths:
       - .docker/**

libwaterlinked/examples/send_command.cpp

@@ -42,10 +42,10 @@ auto main() -> int
   auto config = response.result.get<waterlinked::Configuration>();
 
   std::cout << "Current configuration:\n";
-  std::cout << "  Speed of sound: " << config.speed_of_sound << " m/s\n";
+  std::cout << "  Speed of sound: " << config.speed_of_sound << "\n";
   std::cout << "  Acoustic enabled: " << config.acoustic_enabled << "\n";
   std::cout << "  Dark mode enabled: " << config.dark_mode_enabled << "\n";
-  std::cout << "  Mounting rotation offset: " << config.mounting_rotation_offset << " degrees\n";
+  std::cout << "  Mounting rotation offset: " << config.mounting_rotation_offset << "\n";
   std::cout << "  Range mode: " << config.range_mode << "\n";
   std::cout << "  Periodic cycling enabled: " << config.periodic_cycling_enabled << "\n";
 

libwaterlinked/examples/subscribe_to_reports.cpp

@@ -33,25 +33,25 @@ auto main() -> int
   // Register a callback to receive velocity reports
   client.register_callback([](const waterlinked::VelocityReport & report) {
     std::cout << "Received velocity report:\n";
-    std::cout << "  Time: " << report.time.count() << "ms\n";
-    std::cout << "  Velocity: (" << report.vx << ", " << report.vy << ", " << report.vz << ") m/s\n";
-    std::cout << "  Figure of merit: " << report.fom << " m/s\n";
-    std::cout << "  Altitude: " << report.altitude << " m\n";
+    std::cout << "  Time: " << report.time.count() << "\n";
+    std::cout << "  Velocity: (" << report.vx << ", " << report.vy << ", " << report.vz << ")\n";
+    std::cout << "  Figure of merit: " << report.fom << "\n";
+    std::cout << "  Altitude: " << report.altitude << "\n";
     std::cout << "  Velocity valid: " << report.velocity_valid << "\n";
     std::cout << "  Status: " << static_cast<int>(report.status) << "\n";
-    std::cout << "  Time of validity: " << report.time_of_validity.time_since_epoch().count() << "us\n";
-    std::cout << "  Time of transmission: " << report.time_of_transmission.time_since_epoch().count() << "us\n";
+    std::cout << "  Time of validity: " << report.time_of_validity.time_since_epoch().count() << "\n";
+    std::cout << "  Time of transmission: " << report.time_of_transmission.time_since_epoch().count() << "\n";
   });
 
   // Register a callback to receive dead reckoning reports
   client.register_callback([](const waterlinked::DeadReckoningReport & report) {
     std::cout << "Received dead reckoning report:\n";
-    std::cout << "  Timestamp: " << report.ts.time_since_epoch().count() << "us\n";
-    std::cout << "  Position: (" << report.x << ", " << report.y << ", " << report.z << ") m\n";
-    std::cout << "  Standard deviation: " << report.std << " m\n";
-    std::cout << "  Roll: " << report.roll << " degrees\n";
-    std::cout << "  Pitch: " << report.pitch << " degrees\n";
-    std::cout << "  Yaw: " << report.yaw << " degrees\n";
+    std::cout << "  Timestamp: " << report.ts.time_since_epoch().count() << "\n";
+    std::cout << "  Position: (" << report.x << ", " << report.y << ", " << report.z << ") \n";
+    std::cout << "  Standard deviation: " << report.std << "\n";
+    std::cout << "  Roll: " << report.roll << "\n";
+    std::cout << "  Pitch: " << report.pitch << "\n";
+    std::cout << "  Yaw: " << report.yaw << "\n";
   });
 
   // Let the driver run indefinitely

libwaterlinked/src/client.cpp

@@ -76,7 +76,7 @@ auto parse_bytes(const std::deque<std::uint8_t> & buffer) -> std::vector<nlohman
       json_objects.push_back(nlohmann::json::parse(data));
     }
     catch (const std::exception & e) {
-      std::cout << "An error occurred while attempting to parse the DVL message: " << e.what() << "\n";
+      std::cout << "An error occurred while attempting to parse the DVL message. " << e.what() << "\n";
     }
   }
 
@@ -299,9 +299,9 @@ auto WaterLinkedClient::process_json_object(const nlohmann::json & json_object)
 auto WaterLinkedClient::poll_connection() -> void
 {
   // Maintain a queue to store incoming data
-  const std::size_t max_bytes_to_read = 1024;
-  std::deque<std::uint8_t> buffer(max_bytes_to_read);
-  std::size_t n_bytes_to_read = buffer.size();
+  const std::size_t max_bytes_to_read = 2048;  // Reports can be quite large, so create a large buffer
+  std::deque<std::uint8_t> buffer;
+  std::size_t n_bytes_to_read = max_bytes_to_read;
 
   while (running_.load()) {
     if (read_from_socket(socket_, buffer, n_bytes_to_read) < 0) {