A NMEA2000 message that describes datum (reference frame) information. PGN 129044 (0x1F814) A common one might be the WGS84 datum or the NSRS, for example. More...

#include <nmea2000_message_definitions.hpp>

Public Member Functions
	Datum (std::shared_ptr< ControlFunction > source)
	Constructor for a Datum message data object.

std::shared_ptr< ControlFunction >	get_control_function () const
	Returns the control function sending this instance of this message.

std::string	get_local_datum () const
	Returns the 4 character ascii datum code.

bool	set_local_datum (const std::string &datum)
	Sets the local datum's 4 character ascii datum code.

std::string	get_reference_datum () const
	Returns the 4 character ascii datum code that identifies the reference datum.

bool	set_reference_datum (const std::string &datum)
	Sets the 4 character ascii datum code that identifies the reference datum.

std::int32_t	get_raw_delta_latitude () const
	Returns latitude offset of position in the local datum from the position in the reference datum. In units of 1x10E-7 degrees.

double	get_delta_latitude () const
	Returns latitude offset of position in the local datum from the position in the reference datum. In units of degrees.

bool	set_delta_latitude (std::int32_t delta)
	Sets latitude offset of position in the local datum from the position in the reference datum in units of 1x10E-7 degrees.

std::int32_t	get_raw_delta_longitude () const
	Returns longitude offset of position in the local datum from the position in the reference datum. In units of 1x10E-7 degrees.

double	get_delta_longitude () const
	Returns longitude offset of position in the local datum from the position in the reference datum. In units of degrees.

bool	set_delta_longitude (std::int32_t delta)
	Sets longitude offset of position in the local datum from the position in the reference datum in units of 1x10E-7 degrees.

std::int32_t	get_raw_delta_altitude () const
	Returns the altitude offset of position in the local datum relative to the position in the reference datum in units of The altitude delta in units of 0.01 meters.

float	get_delta_altitude () const
	Returns the altitude offset of position in the local datum relative to the position in the reference datum in units of The altitude delta in units of meters.

bool	set_delta_altitude (std::int32_t delta)
	Sets the altitude offset of position in the local datum relative to the position in the reference datum in units of The altitude delta in units of 0.01 meters.

std::uint32_t	get_timestamp () const
	Returns a timestamp in milliseconds corresponding to when the message was last sent or received.

bool	set_timestamp (std::uint32_t timestamp)
	Sets the time in milliseconds when the message was last sent or received.

void	serialize (std::vector< std::uint8_t > &buffer) const
	Serializes the current state of this object into a buffer to be sent on the CAN bus.

bool	deserialize (const CANMessage &receivedMessage)
	Deserializes a CAN message to populate this object's contents. Updates the timestamp when called.

Static Public Member Functions
static std::uint32_t	get_timeout ()
	Returns the timeout (the sending interval) for this message in milliseconds.

Private Attributes
std::shared_ptr< ControlFunction >	senderControlFunction
	The sender of the message data.

std::string	localDatum
	A 4 character ascii datum code. The first three chars are the datum ID.The fourth char is the local datum subdivision code or a null character if it is unknown or unused.

std::string	referenceDatum
	A 4 character ascii datum code that identifies the reference datum.

std::int32_t	deltaLatitude = 0
	Position in the local datum is offset from the position in the reference datum as indicated by this latitude delta. In units of 1x10E-7 degrees.

std::int32_t	deltaLongitude = 0
	Position in the local datum is offset from the position in the reference datum as indicated by this longitude delta. In units of 1x10E-7 degrees.

std::int32_t	deltaAltitude = 0
	The altitude delta in units of 0.01 meters. Positive values indicate Up.

std::uint32_t	messageTimestamp_ms = 0
	A timestamp in milliseconds when this message was last sent or received.

Static Private Attributes
static constexpr std::uint32_t	CYCLIC_MESSAGE_RATE_MS = 10000
	The transmit interval for this message as specified in NMEA2000.

static constexpr std::uint8_t	LENGTH_BYTES = 20
	The size of this message in bytes.

static constexpr std::uint8_t	DATUM_STRING_LENGTHS = 4
	The size of the datum codes in bytes.

Detailed Description

A NMEA2000 message that describes datum (reference frame) information. PGN 129044 (0x1F814) A common one might be the WGS84 datum or the NSRS, for example.

This provides local geodetic datum and datum offsets from a reference datum. This PGN is used to define the datum to which a position location output by the same device in other PGNs is referenced.

Definition at line 775 of file nmea2000_message_definitions.hpp.

Constructor & Destructor Documentation

◆ Datum()

isobus::NMEA2000Messages::Datum::Datum ( std::shared_ptr< ControlFunction > source )

explicit

Constructor for a Datum message data object.

Parameters

[in] source The control function sending the message

Definition at line 985 of file nmea2000_message_definitions.cpp.

Member Function Documentation

◆ deserialize()

bool isobus::NMEA2000Messages::Datum::deserialize ( const CANMessage & receivedMessage )

Deserializes a CAN message to populate this object's contents. Updates the timestamp when called.

Parameters

[in] receivedMessage The CAN message to parse when deserializing

Returns: True if the message was successfully deserialized and the data content was different than the stored content.

Definition at line 1120 of file nmea2000_message_definitions.cpp.

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◆ get_control_function()

std::shared_ptr< ControlFunction > isobus::NMEA2000Messages::Datum::get_control_function ( ) const

Returns the control function sending this instance of this message.

Returns: The control function sending this instance of this message

Definition at line 992 of file nmea2000_message_definitions.cpp.

◆ get_delta_altitude()

float isobus::NMEA2000Messages::Datum::get_delta_altitude ( ) const

Returns the altitude offset of position in the local datum relative to the position in the reference datum in units of The altitude delta in units of meters.

Returns: The altitude offset of position in the local datum relative to the position in the reference datum in units of The altitude delta in units of meters.

Definition at line 1082 of file nmea2000_message_definitions.cpp.

◆ get_delta_latitude()

double isobus::NMEA2000Messages::Datum::get_delta_latitude ( ) const

Returns latitude offset of position in the local datum from the position in the reference datum. In units of degrees.

Returns: Latitude offset of position in the local datum from the position in the reference datum. In units of degrees

Definition at line 1048 of file nmea2000_message_definitions.cpp.

◆ get_delta_longitude()

double isobus::NMEA2000Messages::Datum::get_delta_longitude ( ) const

Returns longitude offset of position in the local datum from the position in the reference datum. In units of degrees.

Returns: Longitude offset of position in the local datum from the position in the reference datum. In units of degrees

Definition at line 1060 of file nmea2000_message_definitions.cpp.

◆ get_local_datum()

std::string isobus::NMEA2000Messages::Datum::get_local_datum ( ) const

Returns the 4 character ascii datum code.

Returns: The 4 character ascii datum code

Definition at line 1009 of file nmea2000_message_definitions.cpp.

◆ get_raw_delta_altitude()

std::int32_t isobus::NMEA2000Messages::Datum::get_raw_delta_altitude ( ) const

Returns the altitude offset of position in the local datum relative to the position in the reference datum in units of The altitude delta in units of 0.01 meters.

Returns: The altitude offset of position in the local datum relative to the position in the reference datum in units of The altitude delta in units of 0.01 meters.

Definition at line 1077 of file nmea2000_message_definitions.cpp.

◆ get_raw_delta_latitude()

std::int32_t isobus::NMEA2000Messages::Datum::get_raw_delta_latitude ( ) const

Returns latitude offset of position in the local datum from the position in the reference datum. In units of 1x10E-7 degrees.

Returns: Latitude offset of position in the local datum from the position in the reference datum. In units of 1x10E-7 degrees

Definition at line 1043 of file nmea2000_message_definitions.cpp.

◆ get_raw_delta_longitude()

std::int32_t isobus::NMEA2000Messages::Datum::get_raw_delta_longitude ( ) const

Returns longitude offset of position in the local datum from the position in the reference datum. In units of 1x10E-7 degrees.

Returns: Longitude offset of position in the local datum from the position in the reference datum. In units of 1x10E-7 degrees

Definition at line 1065 of file nmea2000_message_definitions.cpp.

◆ get_reference_datum()

std::string isobus::NMEA2000Messages::Datum::get_reference_datum ( ) const

Returns the 4 character ascii datum code that identifies the reference datum.

Returns: The 4 character ascii datum code that identifies the reference datum

Definition at line 1026 of file nmea2000_message_definitions.cpp.

◆ get_timeout()

std::uint32_t isobus::NMEA2000Messages::Datum::get_timeout ( )

static

Returns the timeout (the sending interval) for this message in milliseconds.

Returns: This message's timeout (the sending interval) in milliseconds

Definition at line 1149 of file nmea2000_message_definitions.cpp.

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◆ get_timestamp()

std::uint32_t isobus::NMEA2000Messages::Datum::get_timestamp ( ) const

Returns a timestamp in milliseconds corresponding to when the message was last sent or received.

Returns: A timestamp in milliseconds corresponding to when the message was last sent or received

Definition at line 997 of file nmea2000_message_definitions.cpp.

◆ serialize()

void isobus::NMEA2000Messages::Datum::serialize ( std::vector< std::uint8_t > & buffer ) const

Serializes the current state of this object into a buffer to be sent on the CAN bus.

Parameters

[in] buffer A buffer to serialize the message data into

Definition at line 1094 of file nmea2000_message_definitions.cpp.

◆ set_delta_altitude()

bool isobus::NMEA2000Messages::Datum::set_delta_altitude ( std::int32_t delta )

Sets the altitude offset of position in the local datum relative to the position in the reference datum in units of The altitude delta in units of 0.01 meters.

Parameters

[in] delta The altitude delta to set in units of 0.01 meters

Returns: True if the value that was set differed from the stored value

Definition at line 1087 of file nmea2000_message_definitions.cpp.

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◆ set_delta_latitude()

bool isobus::NMEA2000Messages::Datum::set_delta_latitude ( std::int32_t delta )

Sets latitude offset of position in the local datum from the position in the reference datum in units of 1x10E-7 degrees.

Parameters

[in] delta The latitude offset to set in units of 1x10E-7 degrees

Returns: True if the value that was set differed from the stored value

Definition at line 1053 of file nmea2000_message_definitions.cpp.

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◆ set_delta_longitude()

bool isobus::NMEA2000Messages::Datum::set_delta_longitude ( std::int32_t delta )

Sets longitude offset of position in the local datum from the position in the reference datum in units of 1x10E-7 degrees.

Parameters

[in] delta The longitude offset to set in units of 1x10E-7 degrees

Returns: True if the value that was set differed from the stored value

Definition at line 1070 of file nmea2000_message_definitions.cpp.

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◆ set_local_datum()

bool isobus::NMEA2000Messages::Datum::set_local_datum ( const std::string & datum )

Sets the local datum's 4 character ascii datum code.

Parameters

[in] datum The datum code to set

Returns: True if the value that was set differed from the stored value

Definition at line 1014 of file nmea2000_message_definitions.cpp.

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◆ set_reference_datum()

bool isobus::NMEA2000Messages::Datum::set_reference_datum ( const std::string & datum )

Sets the 4 character ascii datum code that identifies the reference datum.

Parameters

[in] datum The datum code to set, must be 4 characters

Returns: True if the value that was set differed from the stored value

Definition at line 1031 of file nmea2000_message_definitions.cpp.

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◆ set_timestamp()

bool isobus::NMEA2000Messages::Datum::set_timestamp ( std::uint32_t timestamp )

Sets the time in milliseconds when the message was last sent or received.

Parameters

[in] timestamp The timestamp (in milliseconds) to set for when this message was sent or received

Returns: True if the value that was set differed from the stored value, otherwise false

Definition at line 1002 of file nmea2000_message_definitions.cpp.

Member Data Documentation

◆ CYCLIC_MESSAGE_RATE_MS

constexpr std::uint32_t isobus::NMEA2000Messages::Datum::CYCLIC_MESSAGE_RATE_MS = 10000

staticconstexprprivate

The transmit interval for this message as specified in NMEA2000.

Definition at line 866 of file nmea2000_message_definitions.hpp.

◆ DATUM_STRING_LENGTHS

constexpr std::uint8_t isobus::NMEA2000Messages::Datum::DATUM_STRING_LENGTHS = 4

staticconstexprprivate

The size of the datum codes in bytes.

Definition at line 868 of file nmea2000_message_definitions.hpp.

◆ deltaAltitude

std::int32_t isobus::NMEA2000Messages::Datum::deltaAltitude = 0

private

The altitude delta in units of 0.01 meters. Positive values indicate Up.

Definition at line 875 of file nmea2000_message_definitions.hpp.

◆ deltaLatitude

std::int32_t isobus::NMEA2000Messages::Datum::deltaLatitude = 0

private

Position in the local datum is offset from the position in the reference datum as indicated by this latitude delta. In units of 1x10E-7 degrees.

Definition at line 873 of file nmea2000_message_definitions.hpp.

◆ deltaLongitude

std::int32_t isobus::NMEA2000Messages::Datum::deltaLongitude = 0

private

Position in the local datum is offset from the position in the reference datum as indicated by this longitude delta. In units of 1x10E-7 degrees.

Definition at line 874 of file nmea2000_message_definitions.hpp.

◆ LENGTH_BYTES

constexpr std::uint8_t isobus::NMEA2000Messages::Datum::LENGTH_BYTES = 20

staticconstexprprivate

The size of this message in bytes.

Definition at line 867 of file nmea2000_message_definitions.hpp.

◆ localDatum

std::string isobus::NMEA2000Messages::Datum::localDatum

private

A 4 character ascii datum code. The first three chars are the datum ID.The fourth char is the local datum subdivision code or a null character if it is unknown or unused.

Definition at line 871 of file nmea2000_message_definitions.hpp.

◆ messageTimestamp_ms

std::uint32_t isobus::NMEA2000Messages::Datum::messageTimestamp_ms = 0

private

A timestamp in milliseconds when this message was last sent or received.

Definition at line 876 of file nmea2000_message_definitions.hpp.

◆ referenceDatum

std::string isobus::NMEA2000Messages::Datum::referenceDatum

private

A 4 character ascii datum code that identifies the reference datum.

Definition at line 872 of file nmea2000_message_definitions.hpp.

◆ senderControlFunction

std::shared_ptr<ControlFunction> isobus::NMEA2000Messages::Datum::senderControlFunction

private

The sender of the message data.

Definition at line 870 of file nmea2000_message_definitions.hpp.

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

isobus/include/isobus/isobus/nmea2000_message_definitions.hpp
isobus/src/nmea2000_message_definitions.cpp

Public Member Functions

Static Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Datum()

Member Function Documentation

◆ deserialize()

◆ get_control_function()

◆ get_delta_altitude()

◆ get_delta_latitude()

◆ get_delta_longitude()

◆ get_local_datum()

◆ get_raw_delta_altitude()

◆ get_raw_delta_latitude()

◆ get_raw_delta_longitude()

◆ get_reference_datum()

◆ get_timeout()

◆ get_timestamp()

◆ serialize()

◆ set_delta_altitude()

◆ set_delta_latitude()

◆ set_delta_longitude()

◆ set_local_datum()

◆ set_reference_datum()

◆ set_timestamp()

Member Data Documentation

◆ CYCLIC_MESSAGE_RATE_MS

◆ DATUM_STRING_LENGTHS

◆ deltaAltitude

◆ deltaLatitude

◆ deltaLongitude

◆ LENGTH_BYTES

◆ localDatum

◆ messageTimestamp_ms

◆ referenceDatum

◆ senderControlFunction