Message that provides the current machine selected speed, direction and source parameters. More...

#include <isobus_speed_distance_messages.hpp>

Public Types
enum class	ExitReasonCode : std::uint8_t { NoReasonAllClear = 0 , RequiredLevelOfOperatorPresenceAwarenessNotDetected = 1 , ImplementReleasedControlOfFunction = 2 , OperatorOverrideOfFunction = 3 , OperatorControlNotInValidPosition = 4 , RemoteCommandTimeout = 5 , RemoteCommandOutOfRangeInvalid = 6 , FunctionNotCalibrated = 7 , OperatorControlFault = 8 , FunctionFault = 9 , VehicleTransmissionGearDoesNotAllowRemoteCommands = 22 , Error = 62 , NotAvailable = 63 }
	This parameter is used to indicate why the vehicle speed control unit cannot currently accept remote commands or has most recently stopped accepting remote commands. More...

enum class	SpeedSource : std::uint8_t { WheelBasedSpeed = 0 , GroundBasedSpeed = 1 , NavigationBasedSpeed = 2 , Blended = 3 , Simulated = 4 , Reserved_1 = 5 , Reserved_2 = 6 , NotAvailable = 7 }
	An indication of the speed source that is currently being reported in the machine selected speed parameter. More...

enum class	LimitStatus : std::uint8_t { NotLimited = 0 , OperatorLimitedControlled = 1 , LimitedHigh = 2 , LimitedLow = 3 , Reserved_1 = 4 , Reserved_2 = 5 , NonRecoverableFault = 6 , NotAvailable }
	This parameter is used to report the Tractor ECU's present limit status associated with a parameter whose commands are persistent. Similar to other SAEbs03 limit statuses. More...

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

std::uint32_t	get_machine_distance () const
	Returns the Actual distance travelled by the machine based on the value of selected machine speed (SPN 4305).

bool	set_machine_distance (std::uint32_t distance)
	Sets the Actual distance travelled by the machine based on the value of selected machine speed (SPN 4305).

std::uint16_t	get_machine_speed () const
	Returns the current machine selected speed.

bool	set_machine_speed (std::uint16_t speed)
	Sets the machine selected speed.

std::uint8_t	get_exit_reason_code () const
	Returns the reason why the vehicle speed control unit cannot currently accept remote commands or has most recently stopped accepting remote commands.

bool	set_exit_reason_code (std::uint8_t exitCode)
	Sets the reason why the vehicle speed control unit cannot currently accept remote commands or has most recently stopped accepting remote commands.

SpeedSource	get_speed_source () const
	Returns the speed source that is currently being reported in the machine selected speed parameter (SPN-4305).

bool	set_speed_source (SpeedSource selectedSource)
	Sets the speed source that is currently being reported in the machine selected speed parameter (SPN-4305).

LimitStatus	get_limit_status () const
	Returns The Tractor ECU's present limit status associated with a parameter whose commands are persistent.

bool	set_limit_status (LimitStatus statusToSet)
	Sets the Tractor ECU's present limit status associated with a parameter whose commands are persistent.

MachineDirection	get_machine_direction_of_travel () const
	Returns A measured signal indicating either forward or reverse as the direction of travel.

bool	set_machine_direction_of_travel (MachineDirection directionOfTravel)
	Sets a measured signal indicating either forward or reverse as the direction of travel.

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.

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

std::uint32_t	machineSelectedSpeedDistance_mm = 0
	Stores the machine selected speed distance in millimeters.

std::uint16_t	machineSelectedSpeed_mm_per_sec = 0
	Stores the machine selected speed in mm/s.

std::uint8_t	exitReasonCode = static_cast<std::uint8_t>(ExitReasonCode::NotAvailable)
	Stores why the machine has most recently stopped accepting remote commands.

SpeedSource	source = SpeedSource::NotAvailable
	Stores the speed source that is currently being reported.

LimitStatus	limitStatus = LimitStatus::NotAvailable
	Stores the tractor ECU limit status.

MachineDirection	machineDirectionState = MachineDirection::NotAvailable
	Stores direction of travel.

Detailed Description

Message that provides the current machine selected speed, direction and source parameters.

This is usually the best/authoritative source of speed information as chosen by the machine.

Definition at line 193 of file isobus_speed_distance_messages.hpp.

Member Enumeration Documentation

◆ ExitReasonCode

enum class isobus::SpeedMessagesInterface::MachineSelectedSpeedData::ExitReasonCode : std::uint8_t

strong

This parameter is used to indicate why the vehicle speed control unit cannot currently accept remote commands or has most recently stopped accepting remote commands.

Note: Some values are reserved or manufacturer specific. See the SPN definition.

Definition at line 199 of file isobus_speed_distance_messages.hpp.

◆ LimitStatus

enum class isobus::SpeedMessagesInterface::MachineSelectedSpeedData::LimitStatus : std::uint8_t

strong

This parameter is used to report the Tractor ECU's present limit status associated with a parameter whose commands are persistent. Similar to other SAEbs03 limit statuses.

Enumerator
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.
NotAvailable	Parameter not supported.

Definition at line 236 of file isobus_speed_distance_messages.hpp.

◆ SpeedSource

enum class isobus::SpeedMessagesInterface::MachineSelectedSpeedData::SpeedSource : std::uint8_t

strong

An indication of the speed source that is currently being reported in the machine selected speed parameter.

This parameter is an indication of the speed source that is currently being reported in the machine selected speed parameter. Simulated speed is a system-generated speed message to permit implement operations when the machine is not actually moving. Blended speed is a speed message that uses a combination of the actual speed sources based on the operator's or the manufacturer's selected logic, i.e. when a ground-based speed source is less than 0.5 m/s, the speed message will then send the wheel speed source.

Enumerator
WheelBasedSpeed	Wheel encoder usually.
GroundBasedSpeed	Radar usually.
NavigationBasedSpeed	GNSS Usually.
Blended	Some combination of source fusion.
Simulated	A test speed.
Reserved_1	Reserved.
Reserved_2	Reserved.
NotAvailable	N/A.

Definition at line 221 of file isobus_speed_distance_messages.hpp.

Constructor & Destructor Documentation

◆ MachineSelectedSpeedData()

isobus::SpeedMessagesInterface::MachineSelectedSpeedData::MachineSelectedSpeedData ( std::shared_ptr< ControlFunction > sender )

explicit

Constructor for a MachineSelectedSpeedData.

Parameters

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

Definition at line 172 of file isobus_speed_distance_messages.cpp.

Member Function Documentation

◆ get_exit_reason_code()

std::uint8_t isobus::SpeedMessagesInterface::MachineSelectedSpeedData::get_exit_reason_code ( ) const

Returns the reason why the vehicle speed control unit cannot currently accept remote commands or has most recently stopped accepting remote commands.

Returns: why the vehicle speed control unit cannot currently accept remote commands or has most recently stopped accepting remote commands

Definition at line 214 of file isobus_speed_distance_messages.cpp.

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◆ get_limit_status()

SpeedMessagesInterface::MachineSelectedSpeedData::LimitStatus isobus::SpeedMessagesInterface::MachineSelectedSpeedData::get_limit_status ( ) const

Returns The Tractor ECU's present limit status associated with a parameter whose commands are persistent.

Returns: The Tractor ECU's present limit status associated with a parameter whose commands are persistent

Definition at line 238 of file isobus_speed_distance_messages.cpp.

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◆ get_machine_direction_of_travel()

SpeedMessagesInterface::MachineDirection isobus::SpeedMessagesInterface::MachineSelectedSpeedData::get_machine_direction_of_travel ( ) const

Returns A measured signal indicating either forward or reverse as the direction of travel.

Note: When the speed is zero, this indicates the last travel direction until a different direction is detected or selected and engaged.

Returns: The measured direction of travel for the machine

Definition at line 250 of file isobus_speed_distance_messages.cpp.

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◆ get_machine_distance()

std::uint32_t isobus::SpeedMessagesInterface::MachineSelectedSpeedData::get_machine_distance ( ) const

Returns the Actual distance travelled by the machine based on the value of selected machine speed (SPN 4305).

Note: When the distance exceeds 4211081215 meters the value shall be reset to zero and incremented as additional distance accrues.

Returns: The Actual distance travelled by the machine based on the value of selected machine speed (millimeters)

Definition at line 177 of file isobus_speed_distance_messages.cpp.

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◆ get_machine_speed()

std::uint16_t isobus::SpeedMessagesInterface::MachineSelectedSpeedData::get_machine_speed ( ) const

Returns the current machine selected speed.

The TECU sends this value as the authoritative speed for the machine.

Returns: The current machine selected speed in mm/s

Definition at line 196 of file isobus_speed_distance_messages.cpp.

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◆ get_sender_control_function()

std::shared_ptr< ControlFunction > isobus::SpeedMessagesInterface::MachineSelectedSpeedData::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.

Attention: The only way you could get an invalid pointer here is if you register a partner, it sends this message, then you delete the partner and call this function, as that is the only time the stack deletes a control function. That would be abnormal program flow, but at some point the stack will be updated to return a shared or weak pointer instead, but for now please be aware of that limitation. Eventually though the message will time-out normally and you can get a new pointer for the external CF that replaces the deleted partner.

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

Definition at line 262 of file isobus_speed_distance_messages.cpp.

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◆ get_speed_source()

SpeedMessagesInterface::MachineSelectedSpeedData::SpeedSource isobus::SpeedMessagesInterface::MachineSelectedSpeedData::get_speed_source ( ) const

Returns the speed source that is currently being reported in the machine selected speed parameter (SPN-4305).

Returns: The speed source that is currently being reported in the machine selected speed parameter (SPN-4305).

Definition at line 226 of file isobus_speed_distance_messages.cpp.

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◆ get_timestamp_ms()

std::uint32_t isobus::SpeedMessagesInterface::MachineSelectedSpeedData::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 272 of file isobus_speed_distance_messages.cpp.

◆ set_exit_reason_code()

bool isobus::SpeedMessagesInterface::MachineSelectedSpeedData::set_exit_reason_code ( std::uint8_t exitCode )

Sets the reason why the vehicle speed control unit cannot currently accept remote commands or has most recently stopped accepting remote commands.

Parameters

exitCode The exit/reason code to set

Returns: True if the set value was different from the stored value otherwise false

Definition at line 219 of file isobus_speed_distance_messages.cpp.

◆ set_limit_status()

bool isobus::SpeedMessagesInterface::MachineSelectedSpeedData::set_limit_status ( LimitStatus statusToSet )

Sets the Tractor ECU's present limit status associated with a parameter whose commands are persistent.

Parameters

statusToSet The Tractor ECU's present limit status associated with a parameter whose commands are persistent

Returns: True if the set value was different from the stored value otherwise false

Definition at line 243 of file isobus_speed_distance_messages.cpp.

◆ set_machine_direction_of_travel()

bool isobus::SpeedMessagesInterface::MachineSelectedSpeedData::set_machine_direction_of_travel ( MachineDirection directionOfTravel )

Sets a measured signal indicating either forward or reverse as the direction of travel.

Note: The "Not Off" key switch state does not always mean "On" so use care when using it.

Parameters

directionOfTravel The measured direction of travel for the machine

Returns: True if the set value was different from the stored value otherwise false

Definition at line 255 of file isobus_speed_distance_messages.cpp.

◆ set_machine_distance()

bool isobus::SpeedMessagesInterface::MachineSelectedSpeedData::set_machine_distance ( std::uint32_t distance )

Sets the Actual distance travelled by the machine based on the value of selected machine speed (SPN 4305).

Note: When the distance exceeds 4211081215 meters the value shall be reset to zero and incremented as additional distance accrues.

Parameters

[in] distance The Actual distance travelled by the machine based on the value of selected machine speed (millimeters)

Returns: True if the set value was different from the stored value otherwise false

Definition at line 189 of file isobus_speed_distance_messages.cpp.

◆ set_machine_speed()

bool isobus::SpeedMessagesInterface::MachineSelectedSpeedData::set_machine_speed ( std::uint16_t speed )

Sets the machine selected speed.

Parameters

speed The machine selected speed in mm/s

Returns: True if the set value was different from the stored value otherwise false

Definition at line 207 of file isobus_speed_distance_messages.cpp.

◆ set_speed_source()

bool isobus::SpeedMessagesInterface::MachineSelectedSpeedData::set_speed_source ( SpeedSource selectedSource )

Sets the speed source that is currently being reported in the machine selected speed parameter (SPN-4305).

Parameters

selectedSource The speed source that is currently being reported in the machine selected speed parameter (SPN-4305).

Returns: True if the set value was different from the stored value otherwise false

Definition at line 231 of file isobus_speed_distance_messages.cpp.

◆ set_timestamp_ms()

void isobus::SpeedMessagesInterface::MachineSelectedSpeedData::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 267 of file isobus_speed_distance_messages.cpp.

Member Data Documentation

◆ controlFunction

std::shared_ptr<ControlFunction> const isobus::SpeedMessagesInterface::MachineSelectedSpeedData::controlFunction

private

The CF that is sending the message.

Definition at line 333 of file isobus_speed_distance_messages.hpp.

◆ exitReasonCode

std::uint8_t isobus::SpeedMessagesInterface::MachineSelectedSpeedData::exitReasonCode = static_cast<std::uint8_t>(ExitReasonCode::NotAvailable)

private

Stores why the machine has most recently stopped accepting remote commands.

Definition at line 337 of file isobus_speed_distance_messages.hpp.

◆ limitStatus

LimitStatus isobus::SpeedMessagesInterface::MachineSelectedSpeedData::limitStatus = LimitStatus::NotAvailable

private

Stores the tractor ECU limit status.

Definition at line 339 of file isobus_speed_distance_messages.hpp.

◆ machineDirectionState

MachineDirection isobus::SpeedMessagesInterface::MachineSelectedSpeedData::machineDirectionState = MachineDirection::NotAvailable

private

Stores direction of travel.

Definition at line 340 of file isobus_speed_distance_messages.hpp.

◆ machineSelectedSpeed_mm_per_sec

std::uint16_t isobus::SpeedMessagesInterface::MachineSelectedSpeedData::machineSelectedSpeed_mm_per_sec = 0

private

Stores the machine selected speed in mm/s.

Definition at line 336 of file isobus_speed_distance_messages.hpp.

◆ machineSelectedSpeedDistance_mm

std::uint32_t isobus::SpeedMessagesInterface::MachineSelectedSpeedData::machineSelectedSpeedDistance_mm = 0

private

Stores the machine selected speed distance in millimeters.

Definition at line 335 of file isobus_speed_distance_messages.hpp.

◆ source

SpeedSource isobus::SpeedMessagesInterface::MachineSelectedSpeedData::source = SpeedSource::NotAvailable

private

Stores the speed source that is currently being reported.

Definition at line 338 of file isobus_speed_distance_messages.hpp.

◆ timestamp_ms

std::uint32_t isobus::SpeedMessagesInterface::MachineSelectedSpeedData::timestamp_ms = 0

private

A timestamp for when the message was released in milliseconds.

Definition at line 334 of file isobus_speed_distance_messages.hpp.

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

isobus/include/isobus/isobus/isobus_speed_distance_messages.hpp
isobus/src/isobus_speed_distance_messages.cpp

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ ExitReasonCode

◆ LimitStatus

◆ SpeedSource

Constructor & Destructor Documentation

◆ MachineSelectedSpeedData()

Member Function Documentation

◆ get_exit_reason_code()

◆ get_limit_status()

◆ get_machine_direction_of_travel()

◆ get_machine_distance()

◆ get_machine_speed()

◆ get_sender_control_function()

◆ get_speed_source()

◆ get_timestamp_ms()

◆ set_exit_reason_code()

◆ set_limit_status()

◆ set_machine_direction_of_travel()

◆ set_machine_distance()

◆ set_machine_speed()

◆ set_speed_source()

◆ set_timestamp_ms()

Member Data Documentation

◆ controlFunction

◆ exitReasonCode

◆ limitStatus

◆ machineDirectionState

◆ machineSelectedSpeed_mm_per_sec

◆ machineSelectedSpeedDistance_mm

◆ source

◆ timestamp_ms