nmea2000_message_interface.hpp

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#ifndef NMEA2000_MESSAGE_INTERFACE_HPP
#define NMEA2000_MESSAGE_INTERFACE_HPP
 
#include "isobus/isobus/nmea2000_message_definitions.hpp"
#include "isobus/utility/event_dispatcher.hpp"
#include "isobus/utility/processing_flags.hpp"
 
namespace isobus
{
    class NMEA2000MessageInterface
    {
    public:
        NMEA2000MessageInterface(std::shared_ptr<InternalControlFunction> sendingControlFunction,
                                 bool enableSendingCogSogCyclically,
                                 bool enableSendingDatumCyclically,
                                 bool enableSendingGNSSPositionDataCyclically,
                                 bool enableSendingPositionDeltaHighPrecisionRapidUpdateCyclically,
                                 bool enableSendingPositionRapidUpdateCyclically,
                                 bool enableSendingRateOfTurnCyclically,
                                 bool enableSendingVesselHeadingCyclically);
 
        ~NMEA2000MessageInterface();
 
        NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate &get_cog_sog_transmit_message();
 
        NMEA2000Messages::Datum &get_datum_transmit_message();
 
        NMEA2000Messages::GNSSPositionData &get_gnss_position_data_transmit_message();
 
        NMEA2000Messages::PositionDeltaHighPrecisionRapidUpdate &get_position_delta_high_precision_rapid_update_transmit_message();
 
        NMEA2000Messages::PositionRapidUpdate &get_position_rapid_update_transmit_message();
 
        NMEA2000Messages::RateOfTurn &get_rate_of_turn_transmit_message();
 
        NMEA2000Messages::VesselHeading &get_vessel_heading_transmit_message();
 
        std::size_t get_number_received_course_speed_over_ground_message_sources() const;
 
        std::size_t get_number_received_datum_message_sources() const;
 
        std::size_t get_number_received_gnss_position_data_message_sources() const;
 
        std::size_t get_number_received_position_delta_high_precision_rapid_update_message_sources() const;
 
        std::size_t get_number_received_position_rapid_update_message_sources() const;
 
        std::size_t get_number_received_rate_of_turn_message_sources() const;
 
        std::size_t get_number_received_vessel_heading_message_sources() const;
 
        std::shared_ptr<NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate> get_received_course_speed_over_ground_message(std::size_t index) const;
 
        std::shared_ptr<NMEA2000Messages::Datum> get_received_datum_message(std::size_t index) const;
 
        std::shared_ptr<NMEA2000Messages::GNSSPositionData> get_received_gnss_position_data_message(std::size_t index) const;
 
        std::shared_ptr<NMEA2000Messages::PositionDeltaHighPrecisionRapidUpdate> get_received_position_delta_high_precision_rapid_update_message(std::size_t index) const;
 
        std::shared_ptr<NMEA2000Messages::PositionRapidUpdate> get_received_position_rapid_update_message(std::size_t index) const;
 
        std::shared_ptr<NMEA2000Messages::RateOfTurn> get_received_rate_of_turn_message(std::size_t index) const;
 
        std::shared_ptr<NMEA2000Messages::VesselHeading> get_received_vessel_heading_message(std::size_t index) const;
 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate>, bool> &get_course_speed_over_ground_rapid_update_event_publisher();
 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::Datum>, bool> &get_datum_event_publisher();
 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::GNSSPositionData>, bool> &get_gnss_position_data_event_publisher();
 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::PositionDeltaHighPrecisionRapidUpdate>, bool> &get_position_delta_high_precision_rapid_update_event_publisher();
 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::PositionRapidUpdate>, bool> &get_position_rapid_update_event_publisher();
 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::RateOfTurn>, bool> &get_rate_of_turn_event_publisher();
 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::VesselHeading>, bool> &get_vessel_heading_event_publisher();
 
        bool get_enable_sending_cog_sog_cyclically() const;
 
        void set_enable_sending_cog_sog_cyclically(bool enable);
 
        bool get_enable_sending_datum_cyclically() const;
 
        void set_enable_sending_datum_cyclically(bool enable);
 
        bool get_enable_sending_gnss_position_data_cyclically() const;
 
        void set_enable_sending_gnss_position_data_cyclically(bool enable);
 
        bool get_enable_sending_position_delta_high_precision_rapid_update_cyclically() const;
 
        void set_enable_sending_position_delta_high_precision_rapid_update_cyclically(bool enable);
 
        bool get_enable_sending_position_rapid_update_cyclically() const;
 
        void set_enable_sending_position_rapid_update_cyclically(bool enable);
 
        bool get_enable_sending_rate_of_turn_cyclically() const;
 
        void set_enable_sending_rate_of_turn_cyclically(bool enable);
 
        bool get_enable_sending_vessel_heading_cyclically() const;
 
        void set_enable_sending_vessel_heading_cyclically(bool enable);
 
        void initialize();
 
        bool get_initialized() const;
 
        void terminate();
 
        void update();
 
    private:
        enum class TransmitFlags : std::uint32_t
        {
            CourseOverGroundSpeedOverGroundRapidUpdate = 0,
            Datum,
            GNSSPositionData,
            PositionDeltaHighPrecisionRapidUpdate,
            PositionRapidUpdate,
            RateOfTurn,
            VesselHeading,
 
            NumberOfFlags
        };
 
        static void process_flags(std::uint32_t flag, void *parentPointer);
 
        static void process_rx_message(const CANMessage &message, void *parentPointer);
 
        void check_receive_timeouts();
 
        void check_transmit_timeouts();
 
        ProcessingFlags txFlags; 
        NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate cogSogTransmitMessage; 
        NMEA2000Messages::Datum datumTransmitMessage; 
        NMEA2000Messages::GNSSPositionData gnssPositionDataTransmitMessage; 
        NMEA2000Messages::PositionDeltaHighPrecisionRapidUpdate positionDeltaHighPrecisionRapidUpdateTransmitMessage; 
        NMEA2000Messages::PositionRapidUpdate positionRapidUpdateTransmitMessage; 
        NMEA2000Messages::RateOfTurn rateOfTurnTransmitMessage; 
        NMEA2000Messages::VesselHeading vesselHeadingTransmitMessage; 
        std::vector<std::shared_ptr<NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate>> receivedCogSogMessages; 
        std::vector<std::shared_ptr<NMEA2000Messages::Datum>> receivedDatumMessages; 
        std::vector<std::shared_ptr<NMEA2000Messages::GNSSPositionData>> receivedGNSSPositionDataMessages; 
        std::vector<std::shared_ptr<NMEA2000Messages::PositionDeltaHighPrecisionRapidUpdate>> receivedPositionDeltaHighPrecisionRapidUpdateMessages; 
        std::vector<std::shared_ptr<NMEA2000Messages::PositionRapidUpdate>> receivedPositionRapidUpdateMessages; 
        std::vector<std::shared_ptr<NMEA2000Messages::RateOfTurn>> receivedRateOfTurnMessages; 
        std::vector<std::shared_ptr<NMEA2000Messages::VesselHeading>> receivedVesselHeadingMessages; 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate>, bool> cogSogEventPublisher; 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::Datum>, bool> datumEventPublisher; 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::GNSSPositionData>, bool> gnssPositionDataEventPublisher; 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::PositionDeltaHighPrecisionRapidUpdate>, bool> positionDeltaHighPrecisionRapidUpdateEventPublisher; 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::PositionRapidUpdate>, bool> positionRapidUpdateEventPublisher; 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::RateOfTurn>, bool> rateOfTurnEventPublisher; 
        EventDispatcher<const std::shared_ptr<NMEA2000Messages::VesselHeading>, bool> vesselHeadingEventPublisher; 
        bool sendCogSogCyclically; 
        bool sendDatumCyclically; 
        bool sendGNSSPositionDataCyclically; 
        bool sendPositionDeltaHighPrecisionRapidUpdateCyclically; 
        bool sendPositionRapidUpdateCyclically; 
        bool sendRateOfTurnCyclically; 
        bool sendVesselHeadingCyclically; 
        bool initialized = false; 
    };
} // namespace isobus
#endif // NMEA2000_MESSAGE_INTERFACE_HPP