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

#include <isobus_guidance_interface.hpp>

Public Types
enum class	MechanicalSystemLockout : std::uint8_t { NotActive = 0 , Active = 1 , Error = 2 , NotAvailable = 3 }
	State of a lockout switch that allows operators to disable automatic steering system functions. More...

enum class	RequestResetCommandStatus : std::uint8_t { ResetNotRequired = 0 , ResetRequired = 1 , Error = 2 , NotAvailable = 3 }
	Machine steering system request to the automatic guidance system to change Curvature Command Status state from "Intended to steer" to "Not intended to steer". More...

enum class	GenericSAEbs02SlotValue : std::uint8_t { DisabledOffPassive = 0 , EnabledOnActive = 1 , ErrorIndication = 2 , NotAvailableTakeNoAction = 3 }
	A typical, generic 2 bit value in J1939 with no superseding definition in ISO 11783. More...

enum class	GuidanceLimitStatus : std::uint8_t { NotLimited = 0 , OperatorLimitedControlled = 1 , LimitedHigh = 2 , LimitedLow = 3 , Reserved_1 = 4 , Reserved_2 = 5 , NonRecoverableFault = 6 , NotAvailable = 7 }
	This parameter is used to report the steering system's present limit status associated with guidance commands that are persistent (i.e. not transient/temporary/one-shot). More...

enum class	GuidanceSystemCommandExitReasonCode { NoReasonAllClear = 0 , RequiredLevelOfOperatorPresenceAwarenessNotDetected = 1 , ImplementReleasedControlOfFunction = 2 , OperatorOverrideOfFunction = 3 , OperatorControlNotInValidPosition = 4 , RemoteCommandTimeout = 5 , RemoteCommandOutOfRangeInvalid = 6 , FunctionNotCalibrated = 7 , OperatorControlFault = 8 , FunctionFault = 9 , HydraulicOilLevelTooLow = 20 , HydraulicOilTemperatureTooLow = 21 , VehicleTransmissionGearDoesNotAllowRemoteCommands = 22 , VehicleSpeedTooLow = 23 , VehicleSpeedTooHigh = 24 , AlternateGuidanceSystemActive = 25 , ControlUnitInDiagnosticMode = 26 , Error = 62 , NotAvailable = 63 }
	This parameter is used to indicate why the guidance system cannot currently accept remote commands or has most recently stopped accepting remote commands. More...

Public Member Functions
	GuidanceMachineInfo (std::shared_ptr< ControlFunction > sender)
	Constructor for a GuidanceMachineInfo.

bool	set_estimated_curvature (float curvature)
	Sets the estimated course curvature over ground for the machine.

float	get_estimated_curvature () const
	Returns the estimated curvature that was previously set with set_estimated_curvature.

bool	set_mechanical_system_lockout_state (MechanicalSystemLockout state)
	Sets the mechanical system lockout state.

MechanicalSystemLockout	get_mechanical_system_lockout () const
	Returns the mechanical system lockout state.

bool	set_guidance_steering_system_readiness_state (GenericSAEbs02SlotValue state)
	Sets the guidance system's readiness state to report.

GenericSAEbs02SlotValue	get_guidance_steering_system_readiness_state () const
	Returns the guidance system's readiness state for steering.

bool	set_guidance_steering_input_position_status (GenericSAEbs02SlotValue state)
	Sets the guidance steering input position state.

GenericSAEbs02SlotValue	get_guidance_steering_input_position_status () const
	Returns the guidance steering input position state.

bool	set_request_reset_command_status (RequestResetCommandStatus state)
	Sets the request reset command to report.

RequestResetCommandStatus	get_request_reset_command_status () const
	Returns the reported request reset command.

bool	set_guidance_limit_status (GuidanceLimitStatus status)
	Sets the reported guidance limit status.

GuidanceLimitStatus	get_guidance_limit_status () const
	Returns the reported guidance limit status.

bool	set_guidance_system_command_exit_reason_code (std::uint8_t exitCode)
	Sets the exit code for the guidance system.

std::uint8_t	get_guidance_system_command_exit_reason_code () const
	Returns the exit code for the guidance system.

bool	set_guidance_system_remote_engage_switch_status (GenericSAEbs02SlotValue switchStatus)
	Sets the state for the steering engage switch.

GenericSAEbs02SlotValue	get_guidance_system_remote_engage_switch_status () const
	Returns the state for the steering engage switch.

std::shared_ptr< ControlFunction >	get_sender_control_function () const
	Returns a pointer to the sender of the message. If an ICF is the sender, returns the ICF being used to transmit from.

void	set_timestamp_ms (std::uint32_t timestamp)
	Sets the timestamp for when the message was received or sent.

std::uint32_t	get_timestamp_ms () const
	Returns the timestamp for when the message was received, in milliseconds.

Private Attributes
std::shared_ptr< ControlFunction > const	controlFunction
	The CF that is sending the message.

float	estimatedCurvature = 0.0f
	Curvature in km^-1 (inverse kilometers). Range is -8032 to 8031.75 km-1 (SPN 5238)

std::uint32_t	timestamp_ms = 0
	A timestamp for when the message was released in milliseconds.

MechanicalSystemLockout	mechanicalSystemLockoutState = MechanicalSystemLockout::NotAvailable
	The reported state of the mechanical system lockout switch (SPN 5243)

GenericSAEbs02SlotValue	guidanceSteeringSystemReadinessState = GenericSAEbs02SlotValue::NotAvailableTakeNoAction
	The reported state of the steering system's readiness to steer (SPN 5242)

GenericSAEbs02SlotValue	guidanceSteeringInputPositionStatus = GenericSAEbs02SlotValue::NotAvailableTakeNoAction
	The reported state of the steering input position. (SPN 5241)

GenericSAEbs02SlotValue	guidanceSystemRemoteEngageSwitchStatus = GenericSAEbs02SlotValue::NotAvailableTakeNoAction
	The reported state of the remote engage switch (SPN 9726)

RequestResetCommandStatus	requestResetCommandStatus = RequestResetCommandStatus::NotAvailable
	The reported state of the request reset command (SPN 5240)

GuidanceLimitStatus	guidanceLimitStatus = GuidanceLimitStatus::NotAvailable
	The steering system's present limit status associated with guidance commands that are persistent (SPN 5726)

std::uint8_t	guidanceSystemCommandExitReasonCode = static_cast<std::uint8_t>(GuidanceSystemCommandExitReasonCode::NotAvailable)
	The exit code for guidance, stored as a u8 to preserve manufacturer specific values (SPN 5725)

Detailed Description

An interface for sending and receiving the ISOBUS agricultural guidance machine message.

Definition at line 122 of file isobus_guidance_interface.hpp.

Member Enumeration Documentation

◆ GenericSAEbs02SlotValue

enum class isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::GenericSAEbs02SlotValue : std::uint8_t

strong

A typical, generic 2 bit value in J1939 with no superseding definition in ISO 11783.

Definition at line 147 of file isobus_guidance_interface.hpp.

◆ GuidanceLimitStatus

enum class isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::GuidanceLimitStatus : std::uint8_t

strong

This parameter is used to report the steering system's present limit status associated with guidance commands that are persistent (i.e. not transient/temporary/one-shot).

Enumerator
NotLimited	Not limited.
OperatorLimitedControlled	Request cannot be implemented.
LimitedHigh	Only lower command values result in a change.
LimitedLow	Only higher command values result in a change.
Reserved_1	Reserved.
Reserved_2	Reserved.
NonRecoverableFault	Non-recoverable fault.
NotAvailable	Parameter not supported.

Definition at line 157 of file isobus_guidance_interface.hpp.

◆ GuidanceSystemCommandExitReasonCode

enum class isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::GuidanceSystemCommandExitReasonCode

strong

This parameter is used to indicate why the guidance system cannot currently accept remote commands or has most recently stopped accepting remote commands.

Enumerator
VehicleTransmissionGearDoesNotAllowRemoteCommands	park, etc.
NotAvailable	Parameter not supported.

Definition at line 171 of file isobus_guidance_interface.hpp.

◆ MechanicalSystemLockout

enum class isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::MechanicalSystemLockout : std::uint8_t

strong

State of a lockout switch that allows operators to disable automatic steering system functions.

https://www.isobus.net/isobus/pGNAndSPN/1221?type=SPN

Definition at line 128 of file isobus_guidance_interface.hpp.

◆ RequestResetCommandStatus

enum class isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::RequestResetCommandStatus : std::uint8_t

strong

Machine steering system request to the automatic guidance system to change Curvature Command Status state from "Intended to steer" to "Not intended to steer".

Definition at line 138 of file isobus_guidance_interface.hpp.

Constructor & Destructor Documentation

◆ GuidanceMachineInfo()

isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::GuidanceMachineInfo ( std::shared_ptr< ControlFunction > sender )

explicit

Constructor for a GuidanceMachineInfo.

Parameters

[in] sender The control function that is sending this message

Definition at line 107 of file isobus_guidance_interface.cpp.

Member Function Documentation

◆ get_estimated_curvature()

float isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::get_estimated_curvature ( ) const

Returns the estimated curvature that was previously set with set_estimated_curvature.

Returns: The estimated curvature in km^-1 (inverse kilometers). Range is -8032 to 8031.75 km-1

Definition at line 122 of file isobus_guidance_interface.cpp.

Here is the caller graph for this function:

◆ get_guidance_limit_status()

AgriculturalGuidanceInterface::GuidanceMachineInfo::GuidanceLimitStatus isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::get_guidance_limit_status ( ) const

Returns the reported guidance limit status.

This parameter is used to report the steering system's present limit status associated with guidance commands that are persistent (i.e. not transient/temporary/one-shot).

Returns: The reported guidance limit status

Definition at line 197 of file isobus_guidance_interface.cpp.

Here is the caller graph for this function:

◆ get_guidance_steering_input_position_status()

AgriculturalGuidanceInterface::GuidanceMachineInfo::GenericSAEbs02SlotValue isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::get_guidance_steering_input_position_status ( ) const

Returns the guidance steering input position state.

Returns: Guidance steering input position state

Definition at line 167 of file isobus_guidance_interface.cpp.

Here is the caller graph for this function:

◆ get_guidance_steering_system_readiness_state()

AgriculturalGuidanceInterface::GuidanceMachineInfo::GenericSAEbs02SlotValue isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::get_guidance_steering_system_readiness_state ( ) const

Returns the guidance system's readiness state for steering.

Returns: The guidance system's readiness state for steering

Definition at line 152 of file isobus_guidance_interface.cpp.

Here is the caller graph for this function:

◆ get_guidance_system_command_exit_reason_code()

std::uint8_t isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::get_guidance_system_command_exit_reason_code ( ) const

Returns the exit code for the guidance system.

This parameter is used to indicate why the guidance system cannot currently accept remote commands or has most recently stopped accepting remote commands.

Returns: The exit code for the guidance system

Definition at line 212 of file isobus_guidance_interface.cpp.

Here is the caller graph for this function:

◆ get_guidance_system_remote_engage_switch_status()

AgriculturalGuidanceInterface::GuidanceMachineInfo::GenericSAEbs02SlotValue isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::get_guidance_system_remote_engage_switch_status ( ) const

Returns the state for the steering engage switch.

Returns: The state for the steering engage switch

Definition at line 227 of file isobus_guidance_interface.cpp.

Here is the caller graph for this function:

◆ get_mechanical_system_lockout()

AgriculturalGuidanceInterface::GuidanceMachineInfo::MechanicalSystemLockout isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::get_mechanical_system_lockout ( ) const

Returns the mechanical system lockout state.

Returns: The mechanical system lockout state being reported

Definition at line 137 of file isobus_guidance_interface.cpp.

Here is the caller graph for this function:

◆ get_request_reset_command_status()

AgriculturalGuidanceInterface::GuidanceMachineInfo::RequestResetCommandStatus isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::get_request_reset_command_status ( ) const

Returns the reported request reset command.

Machine steering system request to the automatic guidance system to change Curvature Command Status state from "Intended to steer" to "Not intended to steer".

Returns: The reported request reset command

Definition at line 182 of file isobus_guidance_interface.cpp.

Here is the caller graph for this function:

◆ get_sender_control_function()

std::shared_ptr< ControlFunction > isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::get_sender_control_function ( ) const

Returns a pointer to the sender of the message. If an ICF is the sender, returns the ICF being used to transmit from.

Returns: The control function sending this instance of the guidance system command message

Definition at line 232 of file isobus_guidance_interface.cpp.

Here is the caller graph for this function:

◆ get_timestamp_ms()

std::uint32_t isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::get_timestamp_ms ( ) const

Returns the timestamp for when the message was received, in milliseconds.

Returns: The timestamp for when the message was received, in milliseconds

Definition at line 242 of file isobus_guidance_interface.cpp.

◆ set_estimated_curvature()

bool isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::set_estimated_curvature ( float curvature )

Sets the estimated course curvature over ground for the machine.

Parameters

[in] curvature The curvature in km^-1 (inverse kilometers). Range is -8032 to 8031.75 km-1

Returns: True if the curvature changed, false otherwise

Definition at line 112 of file isobus_guidance_interface.cpp.

◆ set_guidance_limit_status()

bool isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::set_guidance_limit_status ( GuidanceLimitStatus status )

Sets the reported guidance limit status.

This parameter is used to report the steering system's present limit status associated with guidance commands that are persistent (i.e. not transient/temporary/one-shot).

Parameters

[in] status The limit status to report

Returns: True if the guidance limit status changed, false otherwise

Definition at line 187 of file isobus_guidance_interface.cpp.

◆ set_guidance_steering_input_position_status()

bool isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::set_guidance_steering_input_position_status ( GenericSAEbs02SlotValue state )

Sets the guidance steering input position state.

Parameters

[in] state The state to set for the guidance steering input position

Returns: True if the guidance steering input position status changed, false otherwise

Definition at line 157 of file isobus_guidance_interface.cpp.

◆ set_guidance_steering_system_readiness_state()

bool isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::set_guidance_steering_system_readiness_state ( GenericSAEbs02SlotValue state )

Sets the guidance system's readiness state to report.

Parameters

[in] state The state to report. See definition of GenericSAEbs02SlotValue

Returns: True if the guidance steering system readiness state changed, false otherwise

Definition at line 142 of file isobus_guidance_interface.cpp.

◆ set_guidance_system_command_exit_reason_code()

bool isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::set_guidance_system_command_exit_reason_code ( std::uint8_t exitCode )

Sets the exit code for the guidance system.

This parameter is used to indicate why the guidance system cannot currently accept remote commands or has most recently stopped accepting remote commands.

Parameters

[in] exitCode The exit code for the guidance system to report

Returns: The exit code for the guidance system

Definition at line 202 of file isobus_guidance_interface.cpp.

◆ set_guidance_system_remote_engage_switch_status()

bool isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::set_guidance_system_remote_engage_switch_status ( GenericSAEbs02SlotValue switchStatus )

Sets the state for the steering engage switch.

Parameters

[in] switchStatus The engage switch state to report

Returns: True if the engage switch state changed, false otherwise

Definition at line 217 of file isobus_guidance_interface.cpp.

◆ set_mechanical_system_lockout_state()

bool isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::set_mechanical_system_lockout_state ( MechanicalSystemLockout state )

Sets the mechanical system lockout state.

Parameters

[in] state The mechanical system lockout state to report

Returns: True if the mechanical system lockout state changed, false otherwise

Definition at line 127 of file isobus_guidance_interface.cpp.

◆ set_request_reset_command_status()

bool isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::set_request_reset_command_status ( RequestResetCommandStatus state )

Sets the request reset command to report.

Machine steering system request to the automatic guidance system to change Curvature Command Status state from "Intended to steer" to "Not intended to steer".

Parameters

[in] state The request reset command state to report

Returns: True if the request reset command status changed, false otherwise

Definition at line 172 of file isobus_guidance_interface.cpp.

◆ set_timestamp_ms()

void isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::set_timestamp_ms ( std::uint32_t timestamp )

Sets the timestamp for when the message was received or sent.

Parameters

[in] timestamp The timestamp, in milliseconds, when the message was sent or received

Definition at line 237 of file isobus_guidance_interface.cpp.

Member Data Documentation

◆ controlFunction

std::shared_ptr<ControlFunction> const isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::controlFunction

private

The CF that is sending the message.

Definition at line 297 of file isobus_guidance_interface.hpp.

◆ estimatedCurvature

float isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::estimatedCurvature = 0.0f

private

Curvature in km^-1 (inverse kilometers). Range is -8032 to 8031.75 km-1 (SPN 5238)

Definition at line 298 of file isobus_guidance_interface.hpp.

◆ guidanceLimitStatus

GuidanceLimitStatus isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::guidanceLimitStatus = GuidanceLimitStatus::NotAvailable

private

The steering system's present limit status associated with guidance commands that are persistent (SPN 5726)

Definition at line 305 of file isobus_guidance_interface.hpp.

◆ guidanceSteeringInputPositionStatus

GenericSAEbs02SlotValue isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::guidanceSteeringInputPositionStatus = GenericSAEbs02SlotValue::NotAvailableTakeNoAction

private

The reported state of the steering input position. (SPN 5241)

Definition at line 302 of file isobus_guidance_interface.hpp.

◆ guidanceSteeringSystemReadinessState

GenericSAEbs02SlotValue isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::guidanceSteeringSystemReadinessState = GenericSAEbs02SlotValue::NotAvailableTakeNoAction

private

The reported state of the steering system's readiness to steer (SPN 5242)

Definition at line 301 of file isobus_guidance_interface.hpp.

◆ guidanceSystemCommandExitReasonCode

std::uint8_t isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::guidanceSystemCommandExitReasonCode = static_cast<std::uint8_t>(GuidanceSystemCommandExitReasonCode::NotAvailable)

private

The exit code for guidance, stored as a u8 to preserve manufacturer specific values (SPN 5725)

Definition at line 306 of file isobus_guidance_interface.hpp.

◆ guidanceSystemRemoteEngageSwitchStatus

GenericSAEbs02SlotValue isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::guidanceSystemRemoteEngageSwitchStatus = GenericSAEbs02SlotValue::NotAvailableTakeNoAction

private

The reported state of the remote engage switch (SPN 9726)

Definition at line 303 of file isobus_guidance_interface.hpp.

◆ mechanicalSystemLockoutState

MechanicalSystemLockout isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::mechanicalSystemLockoutState = MechanicalSystemLockout::NotAvailable

private

The reported state of the mechanical system lockout switch (SPN 5243)

Definition at line 300 of file isobus_guidance_interface.hpp.

◆ requestResetCommandStatus

RequestResetCommandStatus isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::requestResetCommandStatus = RequestResetCommandStatus::NotAvailable

private

The reported state of the request reset command (SPN 5240)

Definition at line 304 of file isobus_guidance_interface.hpp.

◆ timestamp_ms

std::uint32_t isobus::AgriculturalGuidanceInterface::GuidanceMachineInfo::timestamp_ms = 0

private

A timestamp for when the message was released in milliseconds.

Definition at line 299 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

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ GenericSAEbs02SlotValue

◆ GuidanceLimitStatus

◆ GuidanceSystemCommandExitReasonCode

◆ MechanicalSystemLockout

◆ RequestResetCommandStatus

Constructor & Destructor Documentation

◆ GuidanceMachineInfo()

Member Function Documentation

◆ get_estimated_curvature()

◆ get_guidance_limit_status()

◆ get_guidance_steering_input_position_status()

◆ get_guidance_steering_system_readiness_state()

◆ get_guidance_system_command_exit_reason_code()

◆ get_guidance_system_remote_engage_switch_status()

◆ get_mechanical_system_lockout()

◆ get_request_reset_command_status()

◆ get_sender_control_function()

◆ get_timestamp_ms()

◆ set_estimated_curvature()

◆ set_guidance_limit_status()

◆ set_guidance_steering_input_position_status()

◆ set_guidance_steering_system_readiness_state()

◆ set_guidance_system_command_exit_reason_code()

◆ set_guidance_system_remote_engage_switch_status()

◆ set_mechanical_system_lockout_state()

◆ set_request_reset_command_status()

◆ set_timestamp_ms()

Member Data Documentation

◆ controlFunction

◆ estimatedCurvature

◆ guidanceLimitStatus

◆ guidanceSteeringInputPositionStatus

◆ guidanceSteeringSystemReadinessState

◆ guidanceSystemCommandExitReasonCode

◆ guidanceSystemRemoteEngageSwitchStatus

◆ mechanicalSystemLockoutState

◆ requestResetCommandStatus

◆ timestamp_ms