25#ifndef _DRIVER_NAVMSG_H
26#define _DRIVER_NAVMSG_H
37#include <netinet/in.h>
40#include "observable.h"
42using NavmsgTimePoint = std::chrono::time_point<std::chrono::steady_clock>;
47 N2kPGN(uint64_t _pgn) { pgn = _pgn; }
49 friend bool operator<(
const N2kPGN& lhs,
const N2kPGN& rhs) {
50 return lhs.pgn < rhs.pgn;
53 std::string to_string()
const {
71 N2kName(uint64_t name) { value.Name = name; }
74 return lhs.value.Name < rhs.value.Name;
77 std::string to_string()
const {
83 static uint64_t Parse(
const std::string& s) {
103 uint32_t UnicNumberAndManCode;
105 unsigned char DeviceInstance;
106 unsigned char DeviceFunction;
107 unsigned char DeviceClass;
108 unsigned char IndustryGroupAndSystemInstance;
114 void SetUniqueNumber(uint32_t _UniqueNumber) {
115 value.UnicNumberAndManCode =
116 (value.UnicNumberAndManCode & 0xffe00000) | (_UniqueNumber & 0x1fffff);
118 void SetManufacturerCode(uint16_t _ManufacturerCode) {
119 value.UnicNumberAndManCode =
120 (value.UnicNumberAndManCode & 0x1fffff) |
121 (((
unsigned long)(_ManufacturerCode & 0x7ff)) << 21);
123 void SetDeviceInstance(
unsigned char _DeviceInstance) {
124 value.DeviceInstance = _DeviceInstance;
126 void SetDeviceFunction(
unsigned char _DeviceFunction) {
127 value.DeviceFunction = _DeviceFunction;
129 void SetDeviceClass(
unsigned char _DeviceClass) {
130 value.DeviceClass = ((_DeviceClass & 0x7f) << 1);
132 void SetIndustryGroup(
unsigned char _IndustryGroup) {
133 value.IndustryGroupAndSystemInstance =
134 (value.IndustryGroupAndSystemInstance & 0x0f) | (_IndustryGroup << 4) |
137 void SetSystemInstance(
unsigned char _SystemInstance) {
138 value.IndustryGroupAndSystemInstance =
139 (value.IndustryGroupAndSystemInstance & 0xf0) |
140 (_SystemInstance & 0x0f);
143 uint64_t GetName()
const {
return value.Name; }
160 NavAddr(Bus b,
const std::string& i) : bus(b),
iface(i) {};
165 virtual std::string to_string()
const {
166 return NavAddr::BusToString(bus) +
" " +
iface;
168 static std::string BusToString(Bus b);
169 static Bus StringToBus(
const std::string& s);
183 std::string to_string()
const {
return iface; }
192 :
NavAddr(NavAddr::Bus::N2000,
iface), name(0), address(_address) {};
197 std::string to_string()
const {
return name.to_string(); }
200 unsigned char address;
205 const std::string id;
207 :
NavAddr(NavAddr::Bus::Plugin,
"Internal"), id(_id) {}
214 std::string to_string()
const {
return NavAddr::to_string(); }
220 :
NavAddr(NavAddr::Bus::TestBus,
"Test"), name(output_path) {};
222 const std::string name;
232 virtual std::string
key()
const = 0;
246 const NavAddr::Bus bus;
254 const NavmsgTimePoint created_at;
257 NavMsg(
const NavAddr::Bus& _bus, std::shared_ptr<const NavAddr> src)
258 : bus(_bus),
source(src), created_at(std::chrono::steady_clock::now()) {};
267 :
NavMsg(NavAddr::Bus::N2000, std::make_shared<NavAddr>()), PGN(_pgn) {}
269 Nmea2000Msg(
const uint64_t _pgn, std::shared_ptr<const NavAddr2000> src)
270 :
NavMsg(NavAddr::Bus::N2000, src), PGN(_pgn) {}
272 Nmea2000Msg(
const uint64_t _pgn,
const std::vector<unsigned char>& _payload,
273 std::shared_ptr<const NavAddr2000> src)
274 :
NavMsg(NavAddr::Bus::N2000, src), PGN(_pgn), payload(_payload) {}
276 Nmea2000Msg(
const uint64_t _pgn,
const std::vector<unsigned char>& _payload,
277 std::shared_ptr<const NavAddr2000> src,
int _priority)
278 :
NavMsg(NavAddr::Bus::N2000, src),
281 priority(_priority) {}
285 std::string
key()
const override {
286 return std::string(
"n2000-") + PGN.to_string();
292 std::string
to_vdr()
const override;
295 std::vector<unsigned char> payload;
302 Nmea0183Msg(
const std::string&
id,
const std::string& _payload,
303 std::shared_ptr<const NavAddr> src)
304 :
NavMsg(NavAddr::Bus::N0183, src),
310 :
NavMsg(NavAddr::Bus::Undef, std::make_shared<const NavAddr>()) {}
313 :
Nmea0183Msg(
id.size() <= 3 ? std::string(
"??") +
id : id,
"",
314 std::make_shared<const NavAddr>()) {}
324 std::string
key()
const override {
330 std::string
to_vdr()
const override;
334 static const char*
const prefix =
"n0183-";
335 return std::string(prefix) +
type;
347 :
NavMsg(NavAddr::Bus::Undef, std::make_shared<const NavAddr>()) {}
349 PluginMsg(
const std::string& _name,
const std::string& _dest_host,
350 const std::string& msg)
351 :
NavMsg(NavAddr::Bus::Plugin, std::make_shared<const NavAddr>(
352 NavAddr::Bus::Plugin,
"Internal")),
357 PluginMsg(
const std::string& _name,
const std::string& msg)
362 std::string
key()
const {
return std::string(
"plug.json-") + name; };
366 const std::string name;
367 const std::string message;
375 :
NavMsg(NavAddr::Bus::Undef, std::make_shared<const NavAddr>()) {}
377 SignalkMsg(std::string _context_self, std::string _context,
378 std::string _raw_message, std::string _iface)
379 :
NavMsg(NavAddr::Bus::Signalk,
380 std::make_shared<const NavAddr>(NavAddr::Bus::Signalk, _iface)),
381 context_self(_context_self),
383 raw_message(_raw_message) {};
387 std::string
key()
const {
return std::string(
"signalK"); };
393 std::string context_self;
395 std::string raw_message;
402 :
NavMsg(NavAddr::Bus::Undef, std::make_shared<const NavAddr>()) {}
406 std::string
key()
const {
return "navmsg-undef"; }
Interface implemented by classes which listens.
Where messages are sent to or received from.
const std::string iface
Physical device for 0183, else a unique string.
Actual data sent between application and transport layer.
std::string GetKey() const
Alias for key().
virtual std::string to_vdr() const
Return message in unquoted format used by VDR plugin, see https://opencpn-manuals....
virtual std::string key() const =0
Return unique key used by observable to notify/listen.
std::shared_ptr< const NavAddr > source
Source address is set by drivers when receiving, unused and should be empty when sending.
virtual std::string to_string() const
Return printable string for logging etc without trailing nl.
A regular Nmea0183 message.
const std::string type
For example 'GGA'.
std::string key() const override
Return unique key used by observable to notify/listen.
const std::string talker
For example 'GP'.
const std::string payload
Complete NMEA0183 sentence, also prefix.
static std::string MessageKey(const char *type="ALL")
Return key which should be used to listen to given message type.
std::string to_vdr() const override
Return message in unquoted format used by VDR plugin, see https://opencpn-manuals....
std::string to_string() const override
Return printable string for logging etc without trailing nl.
See: https://github.com/OpenCPN/OpenCPN/issues/2729#issuecomment-1179506343.
std::string key() const override
Return unique key used by observable to notify/listen.
std::string to_string() const override
Print "bus key id payload".
std::string to_vdr() const override
Return message in unquoted format used by VDR plugin, see https://opencpn-manuals....
An invalid message, error return value.
std::string key() const
Return unique key used by observable to notify/listen.
A plugin to plugin json message over the REST interface.
std::string to_string() const
Return printable string for logging etc without trailing nl.
std::string key() const
Return unique key used by observable to notify/listen.
const std::string dest_host
hostname, ip address or 'localhost'
Plugin ABI encapsulation.
A parsed SignalK message over ipv4.
std::string key() const
Return unique key used by observable to notify/listen.
std::string to_string() const
Return printable string for logging etc without trailing nl.
N2k uses CAN which defines the basic properties of messages.
uint32_t GetNumber() const
21 bits
uint16_t GetManufacturer() const
9 bits
uint8_t GetDevClass() const
7 bits
uint8_t GetDevFunc() const
8 bits
uint8_t GetIndustryGroup() const
4 bits
uint8_t GetDevInstanceHigh() const
5 bits
uint8_t GetDevInstanceLow() const
3 bits
uint8_t GetSysInstance() const
4 bits