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nmea2000_message_interface.cpp
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//================================================================================================
/// @file nmea2000_message_interface.cpp
///
/// @brief Implements a message interface for processing or sending NMEA2K messages commonly used
/// on an ISO 11783 network.
///
/// @details This interface provides a common interface for sending and receiving common
/// NMEA2000 messages that might be found on an ISO 11783 network. ISO11783-7 defines
/// that GNSS information be sent using NMEA2000 parameter groups like the ones included
/// in this interface.
///
/// @note This library and its authors are not affiliated with the National Marine
/// Electronics Association in any way.
///
/// @author Adrian Del Grosso
///
/// @copyright 2023 The Open-Agriculture Developers
//================================================================================================
#include "nmea2000_message_interface.hpp"
#include "can_general_parameter_group_numbers.hpp"
#include "can_network_manager.hpp"
#include "can_stack_logger.hpp"
#include "nmea2000_fast_packet_protocol.hpp"
#include "system_timing.hpp"
#include <algorithm>
namespace isobus
{
using namespace NMEA2000Messages;
NMEA2000MessageInterface::NMEA2000MessageInterface(std::shared_ptr<InternalControlFunction> sendingControlFunction,
bool enableSendingCogSogCyclically,
bool enableSendingDatumCyclically,
bool enableSendingGNSSPositionDataCyclically,
bool enableSendingPositionDeltaHighPrecisionRapidUpdateCyclically,
bool enableSendingPositionRapidUpdateCyclically,
bool enableSendingRateOfTurnCyclically,
bool enableSendingVesselHeadingCyclically) :
txFlags(static_cast<std::uint32_t>(TransmitFlags::NumberOfFlags), process_flags, this),
cogSogTransmitMessage(sendingControlFunction),
datumTransmitMessage(sendingControlFunction),
gnssPositionDataTransmitMessage(sendingControlFunction),
positionDeltaHighPrecisionRapidUpdateTransmitMessage(sendingControlFunction),
positionRapidUpdateTransmitMessage(sendingControlFunction),
rateOfTurnTransmitMessage(sendingControlFunction),
vesselHeadingTransmitMessage(sendingControlFunction),
sendCogSogCyclically(enableSendingCogSogCyclically),
sendDatumCyclically(enableSendingDatumCyclically),
sendGNSSPositionDataCyclically(enableSendingGNSSPositionDataCyclically),
sendPositionDeltaHighPrecisionRapidUpdateCyclically(enableSendingPositionDeltaHighPrecisionRapidUpdateCyclically),
sendPositionRapidUpdateCyclically(enableSendingPositionRapidUpdateCyclically),
sendRateOfTurnCyclically(enableSendingRateOfTurnCyclically),
sendVesselHeadingCyclically(enableSendingVesselHeadingCyclically)
{
}
NMEA2000MessageInterface::~NMEA2000MessageInterface()
{
terminate();
}
NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate &NMEA2000MessageInterface::get_cog_sog_transmit_message()
{
return cogSogTransmitMessage;
}
NMEA2000Messages::Datum &NMEA2000MessageInterface::get_datum_transmit_message()
{
return datumTransmitMessage;
}
NMEA2000Messages::GNSSPositionData &NMEA2000MessageInterface::get_gnss_position_data_transmit_message()
{
return gnssPositionDataTransmitMessage;
}
NMEA2000Messages::PositionDeltaHighPrecisionRapidUpdate &NMEA2000MessageInterface::get_position_delta_high_precision_rapid_update_transmit_message()
{
return positionDeltaHighPrecisionRapidUpdateTransmitMessage;
}
NMEA2000Messages::PositionRapidUpdate &NMEA2000MessageInterface::get_position_rapid_update_transmit_message()
{
return positionRapidUpdateTransmitMessage;
}
NMEA2000Messages::RateOfTurn &NMEA2000MessageInterface::get_rate_of_turn_transmit_message()
{
return rateOfTurnTransmitMessage;
}
NMEA2000Messages::VesselHeading &NMEA2000MessageInterface::get_vessel_heading_transmit_message()
{
return vesselHeadingTransmitMessage;
}
std::size_t NMEA2000MessageInterface::get_number_received_course_speed_over_ground_message_sources() const
{
return receivedCogSogMessages.size();
}
std::size_t NMEA2000MessageInterface::get_number_received_datum_message_sources() const
{
return receivedDatumMessages.size();
}
std::size_t NMEA2000MessageInterface::get_number_received_gnss_position_data_message_sources() const
{
return receivedGNSSPositionDataMessages.size();
}
std::size_t NMEA2000MessageInterface::get_number_received_position_delta_high_precision_rapid_update_message_sources() const
{
return receivedPositionDeltaHighPrecisionRapidUpdateMessages.size();
}
std::size_t NMEA2000MessageInterface::get_number_received_position_rapid_update_message_sources() const
{
return receivedPositionRapidUpdateMessages.size();
}
std::size_t NMEA2000MessageInterface::get_number_received_rate_of_turn_message_sources() const
{
return receivedRateOfTurnMessages.size();
}
std::size_t NMEA2000MessageInterface::get_number_received_vessel_heading_message_sources() const
{
return receivedVesselHeadingMessages.size();
}
std::shared_ptr<CourseOverGroundSpeedOverGroundRapidUpdate> NMEA2000MessageInterface::get_received_course_speed_over_ground_message(std::size_t index) const
{
std::shared_ptr<CourseOverGroundSpeedOverGroundRapidUpdate> retVal = nullptr;
if (index < receivedCogSogMessages.size())
{
retVal = receivedCogSogMessages.at(index);
}
return retVal;
}
std::shared_ptr<Datum> NMEA2000MessageInterface::get_received_datum_message(std::size_t index) const
{
std::shared_ptr<Datum> retVal = nullptr;
if (index < receivedDatumMessages.size())
{
retVal = receivedDatumMessages.at(index);
}
return retVal;
}
std::shared_ptr<GNSSPositionData> NMEA2000MessageInterface::get_received_gnss_position_data_message(std::size_t index) const
{
std::shared_ptr<GNSSPositionData> retVal = nullptr;
if (index < receivedGNSSPositionDataMessages.size())
{
retVal = receivedGNSSPositionDataMessages.at(index);
}
return retVal;
}
std::shared_ptr<PositionDeltaHighPrecisionRapidUpdate> NMEA2000MessageInterface::get_received_position_delta_high_precision_rapid_update_message(std::size_t index) const
{
std::shared_ptr<PositionDeltaHighPrecisionRapidUpdate> retVal = nullptr;
if (index < receivedPositionDeltaHighPrecisionRapidUpdateMessages.size())
{
retVal = receivedPositionDeltaHighPrecisionRapidUpdateMessages.at(index);
}
return retVal;
}
std::shared_ptr<PositionRapidUpdate> NMEA2000MessageInterface::get_received_position_rapid_update_message(std::size_t index) const
{
std::shared_ptr<PositionRapidUpdate> retVal = nullptr;
if (index < receivedPositionRapidUpdateMessages.size())
{
retVal = receivedPositionRapidUpdateMessages.at(index);
}
return retVal;
}
std::shared_ptr<RateOfTurn> NMEA2000MessageInterface::get_received_rate_of_turn_message(std::size_t index) const
{
std::shared_ptr<RateOfTurn> retVal = nullptr;
if (index < receivedRateOfTurnMessages.size())
{
retVal = receivedRateOfTurnMessages.at(index);
}
return retVal;
}
std::shared_ptr<VesselHeading> NMEA2000MessageInterface::get_received_vessel_heading_message(std::size_t index) const
{
std::shared_ptr<VesselHeading> retVal = nullptr;
if (index < receivedVesselHeadingMessages.size())
{
retVal = receivedVesselHeadingMessages.at(index);
}
return retVal;
}
EventDispatcher<const std::shared_ptr<NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate>, bool> &NMEA2000MessageInterface::get_course_speed_over_ground_rapid_update_event_publisher()
{
return cogSogEventPublisher;
}
EventDispatcher<const std::shared_ptr<NMEA2000Messages::Datum>, bool> &NMEA2000MessageInterface::get_datum_event_publisher()
{
return datumEventPublisher;
}
EventDispatcher<const std::shared_ptr<NMEA2000Messages::GNSSPositionData>, bool> &NMEA2000MessageInterface::get_gnss_position_data_event_publisher()
{
return gnssPositionDataEventPublisher;
}
EventDispatcher<const std::shared_ptr<NMEA2000Messages::PositionDeltaHighPrecisionRapidUpdate>, bool> &NMEA2000MessageInterface::get_position_delta_high_precision_rapid_update_event_publisher()
{
return positionDeltaHighPrecisionRapidUpdateEventPublisher;
}
EventDispatcher<const std::shared_ptr<NMEA2000Messages::PositionRapidUpdate>, bool> &NMEA2000MessageInterface::get_position_rapid_update_event_publisher()
{
return positionRapidUpdateEventPublisher;
}
EventDispatcher<const std::shared_ptr<NMEA2000Messages::RateOfTurn>, bool> &NMEA2000MessageInterface::get_rate_of_turn_event_publisher()
{
return rateOfTurnEventPublisher;
}
EventDispatcher<const std::shared_ptr<NMEA2000Messages::VesselHeading>, bool> &NMEA2000MessageInterface::get_vessel_heading_event_publisher()
{
return vesselHeadingEventPublisher;
}
bool NMEA2000MessageInterface::get_enable_sending_cog_sog_cyclically() const
{
return sendCogSogCyclically;
}
void NMEA2000MessageInterface::set_enable_sending_cog_sog_cyclically(bool enable)
{
sendCogSogCyclically = enable;
}
bool NMEA2000MessageInterface::get_enable_sending_datum_cyclically() const
{
return sendDatumCyclically;
}
void NMEA2000MessageInterface::set_enable_sending_datum_cyclically(bool enable)
{
sendDatumCyclically = enable;
}
bool NMEA2000MessageInterface::get_enable_sending_gnss_position_data_cyclically() const
{
return sendGNSSPositionDataCyclically;
}
void NMEA2000MessageInterface::set_enable_sending_gnss_position_data_cyclically(bool enable)
{
sendGNSSPositionDataCyclically = enable;
}
bool NMEA2000MessageInterface::get_enable_sending_position_delta_high_precision_rapid_update_cyclically() const
{
return sendPositionDeltaHighPrecisionRapidUpdateCyclically;
}
void NMEA2000MessageInterface::set_enable_sending_position_delta_high_precision_rapid_update_cyclically(bool enable)
{
sendPositionDeltaHighPrecisionRapidUpdateCyclically = enable;
}
bool NMEA2000MessageInterface::get_enable_sending_position_rapid_update_cyclically() const
{
return sendPositionRapidUpdateCyclically;
}
void NMEA2000MessageInterface::set_enable_sending_position_rapid_update_cyclically(bool enable)
{
sendPositionRapidUpdateCyclically = enable;
}
bool NMEA2000MessageInterface::get_enable_sending_rate_of_turn_cyclically() const
{
return sendRateOfTurnCyclically;
}
void NMEA2000MessageInterface::set_enable_sending_rate_of_turn_cyclically(bool enable)
{
sendRateOfTurnCyclically = enable;
}
bool NMEA2000MessageInterface::get_enable_sending_vessel_heading_cyclically() const
{
return sendVesselHeadingCyclically;
}
void NMEA2000MessageInterface::set_enable_sending_vessel_heading_cyclically(bool enable)
{
sendVesselHeadingCyclically = enable;
}
void NMEA2000MessageInterface::initialize()
{
if (!initialized)
{
const auto &fastPacketProtocol = CANNetworkManager::CANNetwork.get_fast_packet_protocol(0); // TODO: This should be a configurable can index (will be solved with the new CAN network manager)
fastPacketProtocol->register_multipacket_message_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::Datum), process_rx_message, this);
fastPacketProtocol->register_multipacket_message_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::GNSSPositionData), process_rx_message, this);
CANNetworkManager::CANNetwork.add_any_control_function_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::CourseOverGroundSpeedOverGroundRapidUpdate), process_rx_message, this);
CANNetworkManager::CANNetwork.add_any_control_function_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::PositionDeltaHighPrecisionRapidUpdate), process_rx_message, this);
CANNetworkManager::CANNetwork.add_any_control_function_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::PositionRapidUpdate), process_rx_message, this);
CANNetworkManager::CANNetwork.add_any_control_function_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::RateOfTurn), process_rx_message, this);
CANNetworkManager::CANNetwork.add_any_control_function_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::VesselHeading), process_rx_message, this);
initialized = true;
}
}
bool NMEA2000MessageInterface::get_initialized() const
{
return initialized;
}
void NMEA2000MessageInterface::terminate()
{
if (initialized)
{
const auto &fastPacketProtocol = CANNetworkManager::CANNetwork.get_fast_packet_protocol(0); // TODO: This should be a configurable can index (will be solved with the new CAN network manager)
fastPacketProtocol->remove_multipacket_message_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::Datum), process_rx_message, this);
fastPacketProtocol->remove_multipacket_message_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::GNSSPositionData), process_rx_message, this);
CANNetworkManager::CANNetwork.remove_any_control_function_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::CourseOverGroundSpeedOverGroundRapidUpdate), process_rx_message, this);
CANNetworkManager::CANNetwork.remove_any_control_function_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::PositionDeltaHighPrecisionRapidUpdate), process_rx_message, this);
CANNetworkManager::CANNetwork.remove_any_control_function_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::PositionRapidUpdate), process_rx_message, this);
CANNetworkManager::CANNetwork.remove_any_control_function_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::RateOfTurn), process_rx_message, this);
CANNetworkManager::CANNetwork.remove_any_control_function_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::VesselHeading), process_rx_message, this);
initialized = false;
}
}
void NMEA2000MessageInterface::update()
{
if (initialized)
{
check_transmit_timeouts();
txFlags.process_all_flags();
check_receive_timeouts();
}
else
{
LOG_ERROR("[NMEA2K]: Interface not initialized!");
}
}
void NMEA2000MessageInterface::process_flags(std::uint32_t flag, void *parentPointer)
{
if ((nullptr != parentPointer) &&
(flag < static_cast<std::uint32_t>(TransmitFlags::NumberOfFlags)))
{
auto targetInterface = static_cast<NMEA2000MessageInterface *>(parentPointer);
std::vector<std::uint8_t> messageBuffer;
bool transmitSuccessful = true;
switch (static_cast<TransmitFlags>(flag))
{
case TransmitFlags::CourseOverGroundSpeedOverGroundRapidUpdate:
{
if (nullptr != targetInterface->cogSogTransmitMessage.get_control_function())
{
targetInterface->cogSogTransmitMessage.serialize(messageBuffer);
transmitSuccessful = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::CourseOverGroundSpeedOverGroundRapidUpdate),
messageBuffer.data(),
messageBuffer.size(),
std::static_pointer_cast<InternalControlFunction>(targetInterface->cogSogTransmitMessage.get_control_function()),
nullptr,
CANIdentifier::CANPriority::Priority2);
}
}
break;
case TransmitFlags::Datum:
{
if (nullptr != targetInterface->datumTransmitMessage.get_control_function())
{
targetInterface->datumTransmitMessage.serialize(messageBuffer);
transmitSuccessful = CANNetworkManager::CANNetwork.get_fast_packet_protocol(0)->send_multipacket_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::Datum),
messageBuffer.data(),
messageBuffer.size(),
std::static_pointer_cast<InternalControlFunction>(targetInterface->datumTransmitMessage.get_control_function()),
nullptr,
CANIdentifier::CANPriority::PriorityDefault6);
}
}
break;
case TransmitFlags::GNSSPositionData:
{
if (nullptr != targetInterface->gnssPositionDataTransmitMessage.get_control_function())
{
targetInterface->gnssPositionDataTransmitMessage.serialize(messageBuffer);
transmitSuccessful = CANNetworkManager::CANNetwork.get_fast_packet_protocol(0)->send_multipacket_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::GNSSPositionData),
messageBuffer.data(),
messageBuffer.size(),
std::static_pointer_cast<InternalControlFunction>(targetInterface->gnssPositionDataTransmitMessage.get_control_function()),
nullptr,
CANIdentifier::CANPriority::Priority3);
}
}
break;
case TransmitFlags::PositionDeltaHighPrecisionRapidUpdate:
{
if (nullptr != targetInterface->positionDeltaHighPrecisionRapidUpdateTransmitMessage.get_control_function())
{
targetInterface->positionDeltaHighPrecisionRapidUpdateTransmitMessage.serialize(messageBuffer);
transmitSuccessful = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::PositionDeltaHighPrecisionRapidUpdate),
messageBuffer.data(),
messageBuffer.size(),
std::static_pointer_cast<InternalControlFunction>(targetInterface->positionDeltaHighPrecisionRapidUpdateTransmitMessage.get_control_function()),
nullptr,
CANIdentifier::CANPriority::Priority2);
}
}
break;
case TransmitFlags::PositionRapidUpdate:
{
if (nullptr != targetInterface->positionRapidUpdateTransmitMessage.get_control_function())
{
targetInterface->positionRapidUpdateTransmitMessage.serialize(messageBuffer);
transmitSuccessful = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::PositionRapidUpdate),
messageBuffer.data(),
messageBuffer.size(),
std::static_pointer_cast<InternalControlFunction>(targetInterface->positionRapidUpdateTransmitMessage.get_control_function()),
nullptr,
CANIdentifier::CANPriority::Priority2);
}
}
break;
case TransmitFlags::RateOfTurn:
{
if (nullptr != targetInterface->rateOfTurnTransmitMessage.get_control_function())
{
targetInterface->rateOfTurnTransmitMessage.serialize(messageBuffer);
transmitSuccessful = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::RateOfTurn),
messageBuffer.data(),
messageBuffer.size(),
std::static_pointer_cast<InternalControlFunction>(targetInterface->rateOfTurnTransmitMessage.get_control_function()),
nullptr,
CANIdentifier::CANPriority::Priority2);
}
}
break;
case TransmitFlags::VesselHeading:
{
if (nullptr != targetInterface->vesselHeadingTransmitMessage.get_control_function())
{
targetInterface->vesselHeadingTransmitMessage.serialize(messageBuffer);
transmitSuccessful = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::VesselHeading),
messageBuffer.data(),
messageBuffer.size(),
std::static_pointer_cast<InternalControlFunction>(targetInterface->vesselHeadingTransmitMessage.get_control_function()),
nullptr,
CANIdentifier::CANPriority::Priority2);
}
}
break;
default:
break;
}
if (!transmitSuccessful)
{
targetInterface->txFlags.set_flag(static_cast<std::uint32_t>(flag));
}
}
}
void NMEA2000MessageInterface::process_rx_message(const CANMessage &message, void *parentPointer)
{
if (nullptr != parentPointer)
{
auto targetInterface = static_cast<NMEA2000MessageInterface *>(parentPointer);
switch (message.get_identifier().get_parameter_group_number())
{
case static_cast<std::uint32_t>(CANLibParameterGroupNumber::CourseOverGroundSpeedOverGroundRapidUpdate):
{
if (message.get_source_control_function() != nullptr)
{
auto result = std::find_if(targetInterface->receivedCogSogMessages.begin(),
targetInterface->receivedCogSogMessages.end(),
[&message](const std::shared_ptr<CourseOverGroundSpeedOverGroundRapidUpdate> &receivedCommand) {
return (nullptr != receivedCommand) && (receivedCommand->get_control_function() == message.get_source_control_function());
});
if (result == targetInterface->receivedCogSogMessages.end())
{
// There is no existing message object from this control function, so create a new one
targetInterface->receivedCogSogMessages.push_back(std::make_shared<CourseOverGroundSpeedOverGroundRapidUpdate>(message.get_source_control_function()));
result = targetInterface->receivedCogSogMessages.end() - 1;
}
bool anySignalChanged = (*result)->deserialize(message);
targetInterface->cogSogEventPublisher.call(*result, anySignalChanged);
}
}
break;
case static_cast<std::uint32_t>(CANLibParameterGroupNumber::Datum):
{
if (message.get_source_control_function() != nullptr)
{
auto result = std::find_if(targetInterface->receivedDatumMessages.begin(),
targetInterface->receivedDatumMessages.end(),
[&message](const std::shared_ptr<Datum> &receivedCommand) {
return (nullptr != receivedCommand) && (receivedCommand->get_control_function() == message.get_source_control_function());
});
if (result == targetInterface->receivedDatumMessages.end())
{
// There is no existing message object from this control function, so create a new one
targetInterface->receivedDatumMessages.push_back(std::make_shared<Datum>(message.get_source_control_function()));
result = targetInterface->receivedDatumMessages.end() - 1;
}
bool anySignalChanged = (*result)->deserialize(message);
targetInterface->datumEventPublisher.call(*result, anySignalChanged);
}
}
break;
case static_cast<std::uint32_t>(CANLibParameterGroupNumber::GNSSPositionData):
{
if (message.get_source_control_function() != nullptr)
{
auto result = std::find_if(targetInterface->receivedGNSSPositionDataMessages.begin(),
targetInterface->receivedGNSSPositionDataMessages.end(),
[&message](const std::shared_ptr<GNSSPositionData> &receivedCommand) {
return (nullptr != receivedCommand) && (receivedCommand->get_control_function() == message.get_source_control_function());
});
if (result == targetInterface->receivedGNSSPositionDataMessages.end())
{
// There is no existing message object from this control function, so create a new one
targetInterface->receivedGNSSPositionDataMessages.push_back(std::make_shared<GNSSPositionData>(message.get_source_control_function()));
result = targetInterface->receivedGNSSPositionDataMessages.end() - 1;
}
bool anySignalChanged = (*result)->deserialize(message);
targetInterface->gnssPositionDataEventPublisher.call(*result, anySignalChanged);
}
}
break;
case static_cast<std::uint32_t>(CANLibParameterGroupNumber::PositionDeltaHighPrecisionRapidUpdate):
{
if (message.get_source_control_function() != nullptr)
{
auto result = std::find_if(targetInterface->receivedPositionDeltaHighPrecisionRapidUpdateMessages.begin(),
targetInterface->receivedPositionDeltaHighPrecisionRapidUpdateMessages.end(),
[&message](const std::shared_ptr<PositionDeltaHighPrecisionRapidUpdate> &receivedCommand) {
return (nullptr != receivedCommand) && (receivedCommand->get_control_function() == message.get_source_control_function());
});
if (result == targetInterface->receivedPositionDeltaHighPrecisionRapidUpdateMessages.end())
{
// There is no existing message object from this control function, so create a new one
targetInterface->receivedPositionDeltaHighPrecisionRapidUpdateMessages.push_back(std::make_shared<PositionDeltaHighPrecisionRapidUpdate>(message.get_source_control_function()));
result = targetInterface->receivedPositionDeltaHighPrecisionRapidUpdateMessages.end() - 1;
}
bool anySignalChanged = (*result)->deserialize(message);
targetInterface->positionDeltaHighPrecisionRapidUpdateEventPublisher.call(*result, anySignalChanged);
}
}
break;
case static_cast<std::uint32_t>(CANLibParameterGroupNumber::PositionRapidUpdate):
{
if (message.get_source_control_function() != nullptr)
{
auto result = std::find_if(targetInterface->receivedPositionRapidUpdateMessages.begin(),
targetInterface->receivedPositionRapidUpdateMessages.end(),
[&message](const std::shared_ptr<PositionRapidUpdate> &receivedCommand) {
return (nullptr != receivedCommand) && (receivedCommand->get_control_function() == message.get_source_control_function());
});
if (result == targetInterface->receivedPositionRapidUpdateMessages.end())
{
// There is no existing message object from this control function, so create a new one
targetInterface->receivedPositionRapidUpdateMessages.push_back(std::make_shared<PositionRapidUpdate>(message.get_source_control_function()));
result = targetInterface->receivedPositionRapidUpdateMessages.end() - 1;
}
bool anySignalChanged = (*result)->deserialize(message);
targetInterface->positionRapidUpdateEventPublisher.call(*result, anySignalChanged);
}
}
break;
case static_cast<std::uint32_t>(CANLibParameterGroupNumber::RateOfTurn):
{
if (message.get_source_control_function() != nullptr)
{
auto result = std::find_if(targetInterface->receivedRateOfTurnMessages.begin(),
targetInterface->receivedRateOfTurnMessages.end(),
[&message](const std::shared_ptr<RateOfTurn> &receivedCommand) {
return (nullptr != receivedCommand) && (receivedCommand->get_control_function() == message.get_source_control_function());
});
if (result == targetInterface->receivedRateOfTurnMessages.end())
{
// There is no existing message object from this control function, so create a new one
targetInterface->receivedRateOfTurnMessages.push_back(std::make_shared<RateOfTurn>(message.get_source_control_function()));
result = targetInterface->receivedRateOfTurnMessages.end() - 1;
}
bool anySignalChanged = (*result)->deserialize(message);
targetInterface->rateOfTurnEventPublisher.call(*result, anySignalChanged);
}
}
break;
case static_cast<std::uint32_t>(CANLibParameterGroupNumber::VesselHeading):
{
if (message.get_source_control_function() != nullptr)
{
auto result = std::find_if(targetInterface->receivedVesselHeadingMessages.begin(),
targetInterface->receivedVesselHeadingMessages.end(),
[&message](const std::shared_ptr<VesselHeading> &receivedCommand) {
return (nullptr != receivedCommand) && (receivedCommand->get_control_function() == message.get_source_control_function());
});
if (result == targetInterface->receivedVesselHeadingMessages.end())
{
// There is no existing message object from this control function, so create a new one
targetInterface->receivedVesselHeadingMessages.push_back(std::make_shared<VesselHeading>(message.get_source_control_function()));
result = targetInterface->receivedVesselHeadingMessages.end() - 1;
}
bool anySignalChanged = (*result)->deserialize(message);
targetInterface->vesselHeadingEventPublisher.call(*result, anySignalChanged);
}
}
break;
default:
break;
}
}
}
void NMEA2000MessageInterface::check_receive_timeouts()
{
if (initialized)
{
receivedCogSogMessages.erase(std::remove_if(receivedCogSogMessages.begin(),
receivedCogSogMessages.end(),
[](std::shared_ptr<CourseOverGroundSpeedOverGroundRapidUpdate> message) {
if (SystemTiming::time_expired_ms(message->get_timestamp(), 3 * CourseOverGroundSpeedOverGroundRapidUpdate::get_timeout()))
{
LOG_WARNING("[NMEA2K]: COG & SOG message Rx timeout.");
return true;
}
return false;
}),
receivedCogSogMessages.end());
receivedDatumMessages.erase(std::remove_if(receivedDatumMessages.begin(),
receivedDatumMessages.end(),
[](std::shared_ptr<Datum> message) {
if (SystemTiming::time_expired_ms(message->get_timestamp(), 3 * Datum::get_timeout()))
{
LOG_WARNING("[NMEA2K]: Datum message Rx timeout.");
return true;
}
return false;
}),
receivedDatumMessages.end());
receivedGNSSPositionDataMessages.erase(std::remove_if(receivedGNSSPositionDataMessages.begin(),
receivedGNSSPositionDataMessages.end(),
[](std::shared_ptr<GNSSPositionData> message) {
if (SystemTiming::time_expired_ms(message->get_timestamp(), 3 * GNSSPositionData::get_timeout()))
{
LOG_WARNING("[NMEA2K]: GNSS position data message Rx timeout.");
return true;
}
return false;
}),
receivedGNSSPositionDataMessages.end());
receivedPositionDeltaHighPrecisionRapidUpdateMessages.erase(std::remove_if(receivedPositionDeltaHighPrecisionRapidUpdateMessages.begin(),
receivedPositionDeltaHighPrecisionRapidUpdateMessages.end(),
[](std::shared_ptr<PositionDeltaHighPrecisionRapidUpdate> message) {
if (SystemTiming::time_expired_ms(message->get_timestamp(), 3 * PositionDeltaHighPrecisionRapidUpdate::get_timeout()))
{
LOG_WARNING("[NMEA2K]: Position Delta High Precision Rapid Update Rx timeout.");
return true;
}
return false;
}),
receivedPositionDeltaHighPrecisionRapidUpdateMessages.end());
receivedPositionRapidUpdateMessages.erase(std::remove_if(receivedPositionRapidUpdateMessages.begin(),
receivedPositionRapidUpdateMessages.end(),
[](std::shared_ptr<PositionRapidUpdate> message) {
if (SystemTiming::time_expired_ms(message->get_timestamp(), 3 * PositionRapidUpdate::get_timeout()))
{
LOG_WARNING("[NMEA2K]: Position delta high precision rapid update message Rx timeout.");
return true;
}
return false;
}),
receivedPositionRapidUpdateMessages.end());
receivedRateOfTurnMessages.erase(std::remove_if(receivedRateOfTurnMessages.begin(),
receivedRateOfTurnMessages.end(),
[](std::shared_ptr<RateOfTurn> message) {
if (SystemTiming::time_expired_ms(message->get_timestamp(), 3 * RateOfTurn::get_timeout()))
{
LOG_WARNING("[NMEA2K]: Rate of turn message Rx timeout.");
return true;
}
return false;
}),
receivedRateOfTurnMessages.end());
receivedVesselHeadingMessages.erase(std::remove_if(receivedVesselHeadingMessages.begin(),
receivedVesselHeadingMessages.end(),
[](std::shared_ptr<VesselHeading> message) {
if (SystemTiming::time_expired_ms(message->get_timestamp(), 3 * VesselHeading::get_timeout()))
{
LOG_WARNING("[NMEA2K]: Vessel heading message Rx timeout.");
return true;
}
return false;
}),
receivedVesselHeadingMessages.end());
}
}
void NMEA2000MessageInterface::check_transmit_timeouts()
{
if (sendCogSogCyclically && SystemTiming::time_expired_ms(cogSogTransmitMessage.get_timestamp(), CourseOverGroundSpeedOverGroundRapidUpdate::get_timeout()))
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::CourseOverGroundSpeedOverGroundRapidUpdate));
cogSogTransmitMessage.set_timestamp(SystemTiming::get_timestamp_ms());
}
if (sendDatumCyclically && SystemTiming::time_expired_ms(datumTransmitMessage.get_timestamp(), Datum::get_timeout()))
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::Datum));
datumTransmitMessage.set_timestamp(SystemTiming::get_timestamp_ms());
}
if (sendPositionDeltaHighPrecisionRapidUpdateCyclically && SystemTiming::time_expired_ms(positionDeltaHighPrecisionRapidUpdateTransmitMessage.get_timestamp(), PositionDeltaHighPrecisionRapidUpdate::get_timeout()))
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::PositionDeltaHighPrecisionRapidUpdate));
positionDeltaHighPrecisionRapidUpdateTransmitMessage.set_timestamp(SystemTiming::get_timestamp_ms());
}
if (sendGNSSPositionDataCyclically && SystemTiming::time_expired_ms(gnssPositionDataTransmitMessage.get_timestamp(), GNSSPositionData::get_timeout()))
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::GNSSPositionData));
gnssPositionDataTransmitMessage.set_timestamp(SystemTiming::get_timestamp_ms());
}
if (sendPositionRapidUpdateCyclically && SystemTiming::time_expired_ms(positionRapidUpdateTransmitMessage.get_timestamp(), PositionRapidUpdate::get_timeout()))
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::PositionRapidUpdate));
positionRapidUpdateTransmitMessage.set_timestamp(SystemTiming::get_timestamp_ms());
}
if (sendRateOfTurnCyclically && SystemTiming::time_expired_ms(rateOfTurnTransmitMessage.get_timestamp(), RateOfTurn::get_timeout()))
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::RateOfTurn));
rateOfTurnTransmitMessage.set_timestamp(SystemTiming::get_timestamp_ms());
}
if (sendVesselHeadingCyclically && SystemTiming::time_expired_ms(vesselHeadingTransmitMessage.get_timestamp(), VesselHeading::get_timeout()))
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::VesselHeading));
vesselHeadingTransmitMessage.set_timestamp(SystemTiming::get_timestamp_ms());
}
}
} // namespace isobus