An interface for sending and receiving ISOBUS guidance messages. More...

#include <isobus_guidance_interface.hpp>

Collaboration diagram for isobus::AgriculturalGuidanceInterface:

Classes
class	GuidanceMachineInfo
	An interface for sending and receiving the ISOBUS agricultural guidance machine message. More...

class	GuidanceSystemCommand
	An interface for sending the agricultural guidance system command message. More...

Public Member Functions
	AgriculturalGuidanceInterface (std::shared_ptr< InternalControlFunction > source, std::shared_ptr< ControlFunction > destination, bool enableSendingSystemCommandPeriodically=false, bool enableSendingMachineInfoPeriodically=false)
	Constructor for a AgriculturalGuidanceInterface.

	~AgriculturalGuidanceInterface ()
	Destructor for the AgriculturalGuidanceInterface.

void	initialize ()
	Sets up the class and registers it to receive callbacks from the network manager for processing guidance messages. The class will not receive messages if this is not called.

bool	get_initialized () const
	Returns if the interface has been initialized.

std::size_t	get_number_received_guidance_system_command_sources () const
	Returns the number of received, unique guidance system command sources.

std::size_t	get_number_received_guidance_machine_info_message_sources () const
	Returns the number of received, unique guidance machine info message sources.

std::shared_ptr< GuidanceMachineInfo >	get_received_guidance_machine_info (std::size_t index)
	Returns the content of the agricultural guidance machine info message based on the index of the sender. Use this to read the received messages' content.

std::shared_ptr< GuidanceSystemCommand >	get_received_guidance_system_command (std::size_t index)
	Returns the content of the agricultural guidance curvature command message based on the index of the sender. Use this to read the received messages' content.

EventDispatcher< const std::shared_ptr< GuidanceMachineInfo >, bool > &	get_guidance_machine_info_event_publisher ()
	Returns an event dispatcher which you can use to get callbacks when new/updated guidance machine info messages are received.

EventDispatcher< const std::shared_ptr< GuidanceSystemCommand >, bool > &	get_guidance_system_command_event_publisher ()
	Returns an event dispatcher which you can use to get callbacks when new/updated guidance system command messages are received.

void	update ()
	Call this cyclically to update the interface. Transmits messages if needed and processes timeouts for received messages.

Public Attributes
GuidanceMachineInfo	guidanceMachineInfoTransmitData
	Use this to configure the transmission of the guidance machine info message from your application. If you pass in an internal control function to the constructor of this class, then this message is available to be sent.

GuidanceSystemCommand	guidanceSystemCommandTransmitData
	Use this to configure transmission the guidance system command message from your application. If you pass in an internal control function to the constructor of this class, then this message is available to be sent.

Protected Types
enum class	TransmitFlags : std::uint32_t { SendGuidanceSystemCommand = 0 , SendGuidanceMachineInfo , NumberOfFlags }
	Enumerates a set of flags to manage transmitting messages owned by this interface. More...

Protected Member Functions
bool	send_guidance_machine_info () const
	Sends the agricultural guidance machine info message based on the configured content of guidanceMachineInfoTransmitData.

bool	send_guidance_system_command () const
	Sends the agricultural guidance system command message based on the configured content of guidanceSystemCommandTransmitData.

Static Protected Member Functions
static void	process_flags (std::uint32_t flag, void *parentPointer)
	Processes one flag (which sends the associated message)

static void	process_rx_message (const CANMessage &message, void *parentPointer)
	Processes a CAN message.

Protected Attributes
ProcessingFlags	txFlags
	Tx flag for sending messages periodically.

EventDispatcher< const std::shared_ptr< GuidanceMachineInfo >, bool >	guidanceMachineInfoEventPublisher
	An event publisher for notifying when new guidance machine info messages are received.

EventDispatcher< const std::shared_ptr< GuidanceSystemCommand >, bool >	guidanceSystemCommandEventPublisher
	An event publisher for notifying when new guidance system commands are received.

std::shared_ptr< ControlFunction >	destinationControlFunction
	The optional destination to which messages will be sent. If nullptr it will be broadcast instead.

std::vector< std::shared_ptr< GuidanceMachineInfo > >	receivedGuidanceMachineInfoMessages
	A list of all received estimated curvatures.

std::vector< std::shared_ptr< GuidanceSystemCommand > >	receivedGuidanceSystemCommandMessages
	A list of all received curvature commands and statuses.

std::uint32_t	guidanceSystemCommandTransmitTimestamp_ms = 0
	Timestamp used to know when to transmit the guidance system command message.

std::uint32_t	guidanceMachineInfoTransmitTimestamp_ms = 0
	Timestamp used to know when to transmit the guidance machine info message.

bool	initialized = false
	Stores if the interface has been initialized.

Static Protected Attributes
static constexpr std::uint32_t	GUIDANCE_MESSAGE_TX_INTERVAL_MS = 100
	How often guidance messages are sent, defined in ISO 11783-7.

static constexpr std::uint32_t	GUIDANCE_MESSAGE_TIMEOUT_MS = 150
	Amount of time before a guidance message is stale. We currently tolerate 50ms of delay.

static constexpr float	CURVATURE_COMMAND_OFFSET_INVERSE_KM = 8032.0f
	Constant offset for curvature being sent on the bus in km-1.

static constexpr float	CURVATURE_COMMAND_MAX_INVERSE_KM = 8031.75f
	The maximum curvature that can be encoded once scaling is applied.

static constexpr float	CURVATURE_COMMAND_RESOLUTION_PER_BIT = 0.25f
	The resolution of the message in km-1 per bit.

static constexpr std::uint16_t	ZERO_CURVATURE_INVERSE_KM = 32128
	This is the value for zero km-1 for 0.25 km-1 per bit.

Detailed Description

An interface for sending and receiving ISOBUS guidance messages.

Definition at line 35 of file isobus_guidance_interface.hpp.

Member Enumeration Documentation

◆ TransmitFlags

enum class isobus::AgriculturalGuidanceInterface::TransmitFlags : std::uint32_t

strongprotected

Enumerates a set of flags to manage transmitting messages owned by this interface.

Enumerator
SendGuidanceSystemCommand	A flag to manage sending the guidance system command message.
SendGuidanceMachineInfo	A flag to manage sending the guidance machine info message.
NumberOfFlags	The number of flags in this enumeration.

Definition at line 363 of file isobus_guidance_interface.hpp.

Constructor & Destructor Documentation

◆ AgriculturalGuidanceInterface()

isobus::AgriculturalGuidanceInterface::AgriculturalGuidanceInterface	(	std::shared_ptr< InternalControlFunction >	source,
		std::shared_ptr< ControlFunction >	destination,
		bool	enableSendingSystemCommandPeriodically = false,
		bool	enableSendingMachineInfoPeriodically = false )

Constructor for a AgriculturalGuidanceInterface.

Parameters

[in]	source	The internal control function to use when sending messages, or nullptr for listen only
[in]	destination	The destination control function for transmitted messages, or nullptr for broadcasts
[in]	enableSendingSystemCommandPeriodically	If true, the system command message will be sent periodically. This should (only) be used by an guidance application trying to steer a machine.
[in]	enableSendingMachineInfoPeriodically	If true, the machine info message will be sent periodically. This should (only) be used by the steering controller itself.

Definition at line 37 of file isobus_guidance_interface.cpp.

◆ ~AgriculturalGuidanceInterface()

isobus::AgriculturalGuidanceInterface::~AgriculturalGuidanceInterface ( )

Destructor for the AgriculturalGuidanceInterface.

Definition at line 48 of file isobus_guidance_interface.cpp.

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Member Function Documentation

◆ get_guidance_machine_info_event_publisher()

EventDispatcher< const std::shared_ptr< AgriculturalGuidanceInterface::GuidanceMachineInfo >, bool > & isobus::AgriculturalGuidanceInterface::get_guidance_machine_info_event_publisher ( )

Returns an event dispatcher which you can use to get callbacks when new/updated guidance machine info messages are received.

Returns: The event publisher for guidance machine info messages

Definition at line 299 of file isobus_guidance_interface.cpp.

◆ get_guidance_system_command_event_publisher()

EventDispatcher< const std::shared_ptr< AgriculturalGuidanceInterface::GuidanceSystemCommand >, bool > & isobus::AgriculturalGuidanceInterface::get_guidance_system_command_event_publisher ( )

Returns an event dispatcher which you can use to get callbacks when new/updated guidance system command messages are received.

Returns: The event publisher for guidance system command messages

Definition at line 304 of file isobus_guidance_interface.cpp.

◆ get_initialized()

bool isobus::AgriculturalGuidanceInterface::get_initialized ( ) const

Returns if the interface has been initialized.

Returns: true if initialize has been called for this interface, otherwise false

Definition at line 262 of file isobus_guidance_interface.cpp.

◆ get_number_received_guidance_machine_info_message_sources()

std::size_t isobus::AgriculturalGuidanceInterface::get_number_received_guidance_machine_info_message_sources ( ) const

Returns the number of received, unique guidance machine info message sources.

Returns: The number of CFs sending the guidance machine info message either as a broadcast, or to our internal control function

Definition at line 272 of file isobus_guidance_interface.cpp.

◆ get_number_received_guidance_system_command_sources()

std::size_t isobus::AgriculturalGuidanceInterface::get_number_received_guidance_system_command_sources ( ) const

Returns the number of received, unique guidance system command sources.

Returns: The number of CFs sending the guidance system command either as a broadcast, or to our internal control function

Definition at line 267 of file isobus_guidance_interface.cpp.

◆ get_received_guidance_machine_info()

std::shared_ptr< AgriculturalGuidanceInterface::GuidanceMachineInfo > isobus::AgriculturalGuidanceInterface::get_received_guidance_machine_info ( std::size_t index )

Returns the content of the agricultural guidance machine info message based on the index of the sender. Use this to read the received messages' content.

Parameters

[in] index An index of senders of the agricultural guidance machine info message

Note: Only one device on the bus will send this normally, but we provide a generic way to get an arbitrary number of these commands. So generally using only index 0 will be acceptable.

Returns: The content of the agricultural guidance machine info message

Definition at line 277 of file isobus_guidance_interface.cpp.

◆ get_received_guidance_system_command()

std::shared_ptr< AgriculturalGuidanceInterface::GuidanceSystemCommand > isobus::AgriculturalGuidanceInterface::get_received_guidance_system_command ( std::size_t index )

Returns the content of the agricultural guidance curvature command message based on the index of the sender. Use this to read the received messages' content.

Parameters

[in] index An index of senders of the agricultural guidance curvature command message

Note: Only one device on the bus will send this normally, but we provide a generic way to get an arbitrary number of these commands. So generally using only index 0 will be acceptable.

Returns: The content of the agricultural guidance curvature command message

Definition at line 288 of file isobus_guidance_interface.cpp.

◆ initialize()

void isobus::AgriculturalGuidanceInterface::initialize ( )

Sets up the class and registers it to receive callbacks from the network manager for processing guidance messages. The class will not receive messages if this is not called.

Definition at line 247 of file isobus_guidance_interface.cpp.

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◆ process_flags()

void isobus::AgriculturalGuidanceInterface::process_flags	(	std::uint32_t	flag,
		void *	parentPointer )

staticprotected

Processes one flag (which sends the associated message)

Parameters

[in]	flag	The flag to process
[in]	parentPointer	A pointer to the interface instance

Definition at line 438 of file isobus_guidance_interface.cpp.

◆ process_rx_message()

void isobus::AgriculturalGuidanceInterface::process_rx_message	(	const CANMessage &	message,
		void *	parentPointer )

staticprotected

Processes a CAN message.

Parameters

[in]	message	The CAN message being received
[in]	parentPointer	A context variable to find the relevant instance of this class

Definition at line 470 of file isobus_guidance_interface.cpp.

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◆ send_guidance_machine_info()

bool isobus::AgriculturalGuidanceInterface::send_guidance_machine_info ( ) const

protected

Sends the agricultural guidance machine info message based on the configured content of guidanceMachineInfoTransmitData.

Returns: true if the message was sent, otherwise false

Definition at line 352 of file isobus_guidance_interface.cpp.

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◆ send_guidance_system_command()

bool isobus::AgriculturalGuidanceInterface::send_guidance_system_command ( ) const

protected

Sends the agricultural guidance system command message based on the configured content of guidanceSystemCommandTransmitData.

Returns: true if the message was sent, otherwise false

Definition at line 309 of file isobus_guidance_interface.cpp.

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◆ update()

void isobus::AgriculturalGuidanceInterface::update ( )

Call this cyclically to update the interface. Transmits messages if needed and processes timeouts for received messages.

Definition at line 401 of file isobus_guidance_interface.cpp.

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Member Data Documentation

◆ CURVATURE_COMMAND_MAX_INVERSE_KM

constexpr float isobus::AgriculturalGuidanceInterface::CURVATURE_COMMAND_MAX_INVERSE_KM = 8031.75f

staticconstexprprotected

The maximum curvature that can be encoded once scaling is applied.

Definition at line 384 of file isobus_guidance_interface.hpp.

◆ CURVATURE_COMMAND_OFFSET_INVERSE_KM

constexpr float isobus::AgriculturalGuidanceInterface::CURVATURE_COMMAND_OFFSET_INVERSE_KM = 8032.0f

staticconstexprprotected

Constant offset for curvature being sent on the bus in km-1.

Definition at line 383 of file isobus_guidance_interface.hpp.

◆ CURVATURE_COMMAND_RESOLUTION_PER_BIT

constexpr float isobus::AgriculturalGuidanceInterface::CURVATURE_COMMAND_RESOLUTION_PER_BIT = 0.25f

staticconstexprprotected

The resolution of the message in km-1 per bit.

Definition at line 385 of file isobus_guidance_interface.hpp.

◆ destinationControlFunction

std::shared_ptr<ControlFunction> isobus::AgriculturalGuidanceInterface::destinationControlFunction

protected

The optional destination to which messages will be sent. If nullptr it will be broadcast instead.

Definition at line 399 of file isobus_guidance_interface.hpp.

◆ GUIDANCE_MESSAGE_TIMEOUT_MS

constexpr std::uint32_t isobus::AgriculturalGuidanceInterface::GUIDANCE_MESSAGE_TIMEOUT_MS = 150

staticconstexprprotected

Amount of time before a guidance message is stale. We currently tolerate 50ms of delay.

Definition at line 382 of file isobus_guidance_interface.hpp.

◆ GUIDANCE_MESSAGE_TX_INTERVAL_MS

constexpr std::uint32_t isobus::AgriculturalGuidanceInterface::GUIDANCE_MESSAGE_TX_INTERVAL_MS = 100

staticconstexprprotected

How often guidance messages are sent, defined in ISO 11783-7.

Definition at line 381 of file isobus_guidance_interface.hpp.

◆ guidanceMachineInfoEventPublisher

EventDispatcher<const std::shared_ptr<GuidanceMachineInfo>, bool> isobus::AgriculturalGuidanceInterface::guidanceMachineInfoEventPublisher

protected

An event publisher for notifying when new guidance machine info messages are received.

Definition at line 397 of file isobus_guidance_interface.hpp.

◆ guidanceMachineInfoTransmitData

GuidanceMachineInfo isobus::AgriculturalGuidanceInterface::guidanceMachineInfoTransmitData

Use this to configure the transmission of the guidance machine info message from your application. If you pass in an internal control function to the constructor of this class, then this message is available to be sent.

Definition at line 319 of file isobus_guidance_interface.hpp.

◆ guidanceMachineInfoTransmitTimestamp_ms

std::uint32_t isobus::AgriculturalGuidanceInterface::guidanceMachineInfoTransmitTimestamp_ms = 0

protected

Timestamp used to know when to transmit the guidance machine info message.

Definition at line 403 of file isobus_guidance_interface.hpp.

◆ guidanceSystemCommandEventPublisher

EventDispatcher<const std::shared_ptr<GuidanceSystemCommand>, bool> isobus::AgriculturalGuidanceInterface::guidanceSystemCommandEventPublisher

protected

An event publisher for notifying when new guidance system commands are received.

Definition at line 398 of file isobus_guidance_interface.hpp.

◆ guidanceSystemCommandTransmitData

GuidanceSystemCommand isobus::AgriculturalGuidanceInterface::guidanceSystemCommandTransmitData

Use this to configure transmission the guidance system command message from your application. If you pass in an internal control function to the constructor of this class, then this message is available to be sent.

Definition at line 323 of file isobus_guidance_interface.hpp.

◆ guidanceSystemCommandTransmitTimestamp_ms

std::uint32_t isobus::AgriculturalGuidanceInterface::guidanceSystemCommandTransmitTimestamp_ms = 0

protected

Timestamp used to know when to transmit the guidance system command message.

Definition at line 402 of file isobus_guidance_interface.hpp.

◆ initialized

bool isobus::AgriculturalGuidanceInterface::initialized = false

protected

Stores if the interface has been initialized.

Definition at line 404 of file isobus_guidance_interface.hpp.

◆ receivedGuidanceMachineInfoMessages

std::vector<std::shared_ptr<GuidanceMachineInfo> > isobus::AgriculturalGuidanceInterface::receivedGuidanceMachineInfoMessages

protected

A list of all received estimated curvatures.

Definition at line 400 of file isobus_guidance_interface.hpp.

◆ receivedGuidanceSystemCommandMessages

std::vector<std::shared_ptr<GuidanceSystemCommand> > isobus::AgriculturalGuidanceInterface::receivedGuidanceSystemCommandMessages

protected

A list of all received curvature commands and statuses.

Definition at line 401 of file isobus_guidance_interface.hpp.

◆ txFlags

ProcessingFlags isobus::AgriculturalGuidanceInterface::txFlags

protected

Tx flag for sending messages periodically.

Definition at line 396 of file isobus_guidance_interface.hpp.

◆ ZERO_CURVATURE_INVERSE_KM

constexpr std::uint16_t isobus::AgriculturalGuidanceInterface::ZERO_CURVATURE_INVERSE_KM = 32128

staticconstexprprotected

This is the value for zero km-1 for 0.25 km-1 per bit.

Definition at line 386 of file isobus_guidance_interface.hpp.

The documentation for this class was generated from the following files:

isobus/include/isobus/isobus/isobus_guidance_interface.hpp
isobus/src/isobus_guidance_interface.cpp

Classes

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ TransmitFlags

Constructor & Destructor Documentation

◆ AgriculturalGuidanceInterface()

◆ ~AgriculturalGuidanceInterface()

Member Function Documentation

◆ get_guidance_machine_info_event_publisher()

◆ get_guidance_system_command_event_publisher()

◆ get_initialized()

◆ get_number_received_guidance_machine_info_message_sources()

◆ get_number_received_guidance_system_command_sources()

◆ get_received_guidance_machine_info()

◆ get_received_guidance_system_command()

◆ initialize()

◆ process_flags()

◆ process_rx_message()

◆ send_guidance_machine_info()

◆ send_guidance_system_command()

◆ update()

Member Data Documentation

◆ CURVATURE_COMMAND_MAX_INVERSE_KM

◆ CURVATURE_COMMAND_OFFSET_INVERSE_KM

◆ CURVATURE_COMMAND_RESOLUTION_PER_BIT

◆ destinationControlFunction

◆ GUIDANCE_MESSAGE_TIMEOUT_MS

◆ GUIDANCE_MESSAGE_TX_INTERVAL_MS

◆ guidanceMachineInfoEventPublisher

◆ guidanceMachineInfoTransmitData

◆ guidanceMachineInfoTransmitTimestamp_ms

◆ guidanceSystemCommandEventPublisher

◆ guidanceSystemCommandTransmitData

◆ guidanceSystemCommandTransmitTimestamp_ms

◆ initialized

◆ receivedGuidanceMachineInfoMessages

◆ receivedGuidanceSystemCommandMessages

◆ txFlags

◆ ZERO_CURVATURE_INVERSE_KM