Represents a generic NMEA 2000 message encapsulating a CAN frame. More...

#include <nmea2000.h>

Inheritance diagram for nmealib::nmea2000::Message2000:

[legend]

Collaboration diagram for nmealib::nmea2000::Message2000:

Public Member Functions
	Message2000 (const Message2000 &)=default

Message2000 &	operator= (const Message2000 &)=default

	Message2000 (Message2000 &&) noexcept=default

Message2000 &	operator= (Message2000 &&)=default

	~Message2000 () override=default

std::unique_ptr< nmealib::Message >	clone () const override
	Creates a polymorphic deep copy of this Message2000.

const std::vector< uint8_t > &	getCanId () const noexcept
	Returns the 29-bit CAN identifier as 4 bytes (big-endian).

const std::vector< uint8_t > &	getCanFrame () const noexcept
	Returns the raw CAN frame payload (0-223 bytes).

uint8_t	getCanFrameLength () const noexcept
	Returns the number of bytes in the CAN frame payload.

uint8_t	getPriority () const noexcept
	Returns the 3-bit message priority (0 = highest, 7 = lowest).

bool	getPriority3 () const noexcept
	Returns individual priority bits (P3 is the MSB).

bool	getPriority2 () const noexcept
	Bit 3 of canId_[0].

bool	getPriority1 () const noexcept
	Bit 2 of canId_[0].

bool	getHeaderReserved () const noexcept
	Returns the Reserved bit (R1).

bool	getDataPage () const noexcept
	Returns the Data Page bit (DP).

uint8_t	getPDUFormat () const noexcept
	Returns the PDU Format byte (PF).

uint8_t	getPDUSpecific () const noexcept
	Returns the PDU Specific byte (PS).

uint8_t	getSourceAddress () const noexcept
	Returns the source address of the transmitting device.

uint8_t	getDestinationAddress () const noexcept
	Returns the destination address.

uint32_t	getPgn () const noexcept
	Returns the PGN (Parameter Group Number) extracted from the CAN Id.

virtual std::string	getStringContent (bool verbose) const noexcept
	Returns a human-readable string representation of the message.

std::string	serialize () const override
	Serializes the message to "CANID:data" hex format.

virtual bool	operator== (const Message2000 &other) const noexcept

bool	validate () const override
	Returns true if the PGN fits in 18 bits and the frame is 0-223 bytes.

Public Member Functions inherited from nmealib::Message
	Message ()

	Message (std::string raw, Type type=Type::Unknown, TimePoint ts=std::chrono::system_clock::now()) noexcept

virtual	~Message ()

	Message (const Message &)=default

Message &	operator= (const Message &)=default

	Message (Message &&) noexcept=default

Message &	operator= (Message &&) noexcept=default

Type	getType () const noexcept
	Returns the message type.

const std::string &	getRawData () const noexcept
	Returns the raw, unmodified data string as received.

TimePoint	getTimestamp () const noexcept
	Returns the timestamp associated with this message.

bool	operator== (const Message &other) const noexcept
	Compares two Message objects for equality based on their content.

Protected Member Functions
std::string	toString (bool verbose) const noexcept
	Returns the base string common to all PGNs (used by getStringContent).

Protected Member Functions inherited from nmealib::Message
void	setType (Type t) noexcept
	Sets the message type.

void	setRaw (std::string r) noexcept
	Sets the raw data string.

void	setTimestamp (TimePoint ts) noexcept
	Sets the message timestamp.

Static Protected Member Functions
static std::unique_ptr< Message2000 >	create (std::string raw, TimePoint ts=std::chrono::system_clock::now())
	Protected factory — parses "CANID:data" (and variant formats) into a Message2000.

Protected Attributes
std::vector< uint8_t >	canId_
	29-bit CAN Id stored as 4 bytes (big-endian)

std::vector< uint8_t >	canFrame_
	CAN frame payload (0-223 bytes)

Protected Attributes inherited from nmealib::Message
std::string	rawData_

Type	type_ {Type::Unknown}

TimePoint	timestamp_ {}

Friends
class	Nmea2000Factory

Additional Inherited Members
Public Types inherited from nmealib::Message
enum class	Type { Unknown , NMEA0183 , NMEA2000 }
	Defines the type of NMEA message, allowing for differentiation between various standards. More...

using	TimePoint = std::chrono::system_clock::time_point

Static Public Member Functions inherited from nmealib::Message
static std::string	typeToString (Type t)
	Converts a Message::Type enum value to its string representation.

Detailed Description

Represents a generic NMEA 2000 message encapsulating a CAN frame.

An NMEA 2000 message is built on the CAN 2.0B protocol (29-bit extended identifier). The 29-bit CAN Id is stored as 4 bytes (big-endian, value right-aligned):

canId_[0]: [ 0 0 0 P3 P2 P1 R1 DP ] canId_[1]: [PF8 PF7 PF6 PF5 PF4 PF3 PF2 PF1] ← PDU Format canId_[2]: [PS8 PS7 PS6 PS5 PS4 PS3 PS2 PS1] ← PDU Specific canId_[3]: [SA8 SA7 SA6 SA5 SA4 SA3 SA2 SA1] ← Source Address

PGN extraction follows the ISO 11783 / NMEA 2000 rules:

PDU1 (PF < 0xF0): PS is the destination address; PGN = [RDP][PF][00]
PDU2 (PF >= 0xF0): destination is global (255); PGN = [RDP][PF][PS]

RTR and DLC are CAN bus framing fields managed by hardware/drivers and are NOT part of the 29-bit CAN Id; they are not stored here.

Payload: up to 223 bytes (single-frame: 0-8 bytes, fast-packet: 0-223 bytes).

Definition at line 62 of file nmea2000.h.

Constructor & Destructor Documentation

◆ Message2000() [1/2]

nmealib::nmea2000::Message2000::Message2000 ( const Message2000 & )

default

◆ Message2000() [2/2]

nmealib::nmea2000::Message2000::Message2000 ( Message2000 && )

defaultnoexcept

◆ ~Message2000()

nmealib::nmea2000::Message2000::~Message2000 ( )

overridedefault

Member Function Documentation

◆ clone()

std::unique_ptr< nmealib::Message > nmealib::nmea2000::Message2000::clone ( ) const

overridevirtual

Creates a polymorphic deep copy of this Message2000.

Implements nmealib::Message.

Reimplemented in nmealib::nmea2000::PGN127245, nmealib::nmea2000::PGN127250, nmealib::nmea2000::PGN127251, nmealib::nmea2000::PGN127257, nmealib::nmea2000::PGN128001, nmealib::nmea2000::PGN128259, nmealib::nmea2000::PGN129025, nmealib::nmea2000::PGN129026, and nmealib::nmea2000::PGN130306.

Definition at line 242 of file nmea2000.cpp.

◆ create()

std::unique_ptr< Message2000 > nmealib::nmea2000::Message2000::create	(	std::string	raw,
		TimePoint	ts = `std::chrono::system_clock::now()`
	)

staticprotected

Protected factory — parses "CANID:data" (and variant formats) into a Message2000.

Exceptions

InvalidCanFrameException	If the format is unrecognized.
InvalidPgnException	If the extracted PGN exceeds 18 bits.
FrameTooLongException	If the payload exceeds 223 bytes.

Definition at line 109 of file nmea2000.cpp.

◆ getCanFrame()

const std::vector< uint8_t > & nmealib::nmea2000::Message2000::getCanFrame ( ) const

noexcept

Returns the raw CAN frame payload (0-223 bytes).

Definition at line 308 of file nmea2000.cpp.

◆ getCanFrameLength()

uint8_t nmealib::nmea2000::Message2000::getCanFrameLength ( ) const

noexcept

Returns the number of bytes in the CAN frame payload.

Definition at line 312 of file nmea2000.cpp.

◆ getCanId()

const std::vector< uint8_t > & nmealib::nmea2000::Message2000::getCanId ( ) const

noexcept

Returns the 29-bit CAN identifier as 4 bytes (big-endian).

Definition at line 304 of file nmea2000.cpp.

◆ getDataPage()

bool nmealib::nmea2000::Message2000::getDataPage ( ) const

noexcept

Returns the Data Page bit (DP).

Bit 0 of canId_[0]

Definition at line 269 of file nmea2000.cpp.

◆ getDestinationAddress()

uint8_t nmealib::nmea2000::Message2000::getDestinationAddress ( ) const

noexcept

Returns the destination address.

For PDU1 messages (PF < 0xF0) this is getPDUSpecific(). For PDU2 messages the destination is always 255 (global).

Definition at line 283 of file nmea2000.cpp.

◆ getHeaderReserved()

bool nmealib::nmea2000::Message2000::getHeaderReserved ( ) const

noexcept

Returns the Reserved bit (R1).

Always 0 in NMEA 2000; non-zero in J1939. Bit 1 of canId_[0]

Definition at line 266 of file nmea2000.cpp.

◆ getPDUFormat()

uint8_t nmealib::nmea2000::Message2000::getPDUFormat ( ) const

noexcept

Returns the PDU Format byte (PF).

Determines addressing mode: PF < 0xF0 → PDU1 (addressed): canId_[2] is the destination address. PF >= 0xF0 → PDU2 (broadcast): canId_[2] is the PGN group extension. canId_[1]

Definition at line 272 of file nmea2000.cpp.

◆ getPDUSpecific()

uint8_t nmealib::nmea2000::Message2000::getPDUSpecific ( ) const

noexcept

Returns the PDU Specific byte (PS).

Interpretation depends on PDU Format (see getPDUFormat()). canId_[2]

Definition at line 276 of file nmea2000.cpp.

◆ getPgn()

uint32_t nmealib::nmea2000::Message2000::getPgn ( ) const

noexcept

Returns the PGN (Parameter Group Number) extracted from the CAN Id.

The PGN fits in 18 bits (0x00000 - 0x3FFFF).

Definition at line 296 of file nmea2000.cpp.

◆ getPriority()

uint8_t nmealib::nmea2000::Message2000::getPriority ( ) const

noexcept

Returns the 3-bit message priority (0 = highest, 7 = lowest).

Definition at line 256 of file nmea2000.cpp.

◆ getPriority1()

bool nmealib::nmea2000::Message2000::getPriority1 ( ) const

noexcept

Bit 2 of canId_[0].

Definition at line 263 of file nmea2000.cpp.

◆ getPriority2()

bool nmealib::nmea2000::Message2000::getPriority2 ( ) const

noexcept

Bit 3 of canId_[0].

Definition at line 262 of file nmea2000.cpp.

◆ getPriority3()

bool nmealib::nmea2000::Message2000::getPriority3 ( ) const

noexcept

Returns individual priority bits (P3 is the MSB).

Bit 4 of canId_[0]

Definition at line 261 of file nmea2000.cpp.

◆ getSourceAddress()

uint8_t nmealib::nmea2000::Message2000::getSourceAddress ( ) const

noexcept

Returns the source address of the transmitting device.

0-253 = valid node address, 254 = anonymous, 255 = broadcast/global. canId_[3]

Definition at line 279 of file nmea2000.cpp.

◆ getStringContent()

std::string nmealib::nmea2000::Message2000::getStringContent ( bool verbose ) const

virtualnoexcept

Returns a human-readable string representation of the message.

Verbose: multi-line dump of all fields. Non-verbose: single-line summary.

Reimplemented in nmealib::nmea2000::PGN127245, nmealib::nmea2000::PGN127250, nmealib::nmea2000::PGN127251, nmealib::nmea2000::PGN127257, nmealib::nmea2000::PGN128001, nmealib::nmea2000::PGN128259, nmealib::nmea2000::PGN129025, nmealib::nmea2000::PGN129026, and nmealib::nmea2000::PGN130306.

Definition at line 320 of file nmea2000.cpp.

◆ operator=() [1/2]

Message2000 & nmealib::nmea2000::Message2000::operator= ( const Message2000 & )

default

◆ operator=() [2/2]

Message2000 & nmealib::nmea2000::Message2000::operator= ( Message2000 && )

default

◆ operator==()

bool nmealib::nmea2000::Message2000::operator== ( const Message2000 & other ) const

virtualnoexcept

Reimplemented in nmealib::nmea2000::PGN127245, nmealib::nmea2000::PGN127250, nmealib::nmea2000::PGN127251, nmealib::nmea2000::PGN127257, nmealib::nmea2000::PGN128001, nmealib::nmea2000::PGN128259, nmealib::nmea2000::PGN129025, nmealib::nmea2000::PGN129026, and nmealib::nmea2000::PGN130306.

Definition at line 401 of file nmea2000.cpp.

◆ serialize()

std::string nmealib::nmea2000::Message2000::serialize ( ) const

overridevirtual

Serializes the message to "CANID:data" hex format.

Implements nmealib::Message.

Definition at line 380 of file nmea2000.cpp.

◆ toString()

std::string nmealib::nmea2000::Message2000::toString ( bool verbose ) const

protectednoexcept

Returns the base string common to all PGNs (used by getStringContent).

Definition at line 337 of file nmea2000.cpp.

◆ validate()

bool nmealib::nmea2000::Message2000::validate ( ) const

overridevirtual

Returns true if the PGN fits in 18 bits and the frame is 0-223 bytes.

Implements nmealib::Message.

Definition at line 407 of file nmea2000.cpp.

Friends And Related Symbol Documentation

◆ Nmea2000Factory

friend class Nmea2000Factory

friend

Definition at line 236 of file nmea2000.h.

Member Data Documentation

◆ canFrame_

std::vector<uint8_t> nmealib::nmea2000::Message2000::canFrame_

protected

CAN frame payload (0-223 bytes)

Definition at line 201 of file nmea2000.h.

◆ canId_

std::vector<uint8_t> nmealib::nmea2000::Message2000::canId_

protected

29-bit CAN Id stored as 4 bytes (big-endian)

Definition at line 200 of file nmea2000.h.

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

include/nmealib/nmea2000.h
src/nmea2000.cpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Message2000() [1/2]

◆ Message2000() [2/2]

◆ ~Message2000()

Member Function Documentation

◆ clone()

◆ create()

◆ getCanFrame()

◆ getCanFrameLength()

◆ getCanId()

◆ getDataPage()

◆ getDestinationAddress()

◆ getHeaderReserved()

◆ getPDUFormat()

◆ getPDUSpecific()

◆ getPgn()

◆ getPriority()

◆ getPriority1()

◆ getPriority2()

◆ getPriority3()

◆ getSourceAddress()

◆ getStringContent()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ serialize()

◆ toString()

◆ validate()

Friends And Related Symbol Documentation

◆ Nmea2000Factory

Member Data Documentation

◆ canFrame_

◆ canId_