Strongly-typed class representing PGN 127257 - Attitude. More...

#include <PGN127257.h>

Inheritance diagram for nmealib::nmea2000::PGN127257:

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Collaboration diagram for nmealib::nmea2000::PGN127257:

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Public Member Functions
	PGN127257 (uint8_t sequenceId, SignedAngle yaw, SignedAngle pitch, SignedAngle roll, Byte reserved=Byte::fromValue(0U)) noexcept

	PGN127257 (const PGN127257 &)=default

PGN127257 &	operator= (const PGN127257 &)=default

	PGN127257 (PGN127257 &&) noexcept=default

PGN127257 &	operator= (PGN127257 &&) noexcept=default

	~PGN127257 () override=default

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

uint8_t	getSequenceId () const noexcept

SignedAngle	getYaw () const noexcept

SignedAngle	getPitch () const noexcept

SignedAngle	getRoll () const noexcept

Byte	getReserved () const noexcept

float	getYawDegrees () const noexcept

float	getPitchDegrees () const noexcept

float	getRollDegrees () const noexcept

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

bool	operator== (const PGN127257 &other) const noexcept

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

Public Member Functions inherited from nmealib::nmea2000::Message2000
	Message2000 (const Message2000 &)=default

Message2000 &	operator= (const Message2000 &)=default

	Message2000 (Message2000 &&) noexcept=default

Message2000 &	operator= (Message2000 &&)=default

	~Message2000 () override=default

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.

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

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.

Friends
class	Nmea2000Factory

class	MessageRegistry

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.

Protected Member Functions inherited from nmealib::nmea2000::Message2000
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 inherited from nmealib::nmea2000::Message2000
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 inherited from nmealib::nmea2000::Message2000
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_ {}

Detailed Description

Strongly-typed class representing PGN 127257 - Attitude.

PGN 127257 is used to report vessel attitude. The message contains the following fields:

Sequence ID (1 byte): A counter that increments with each new message instance.
Yaw (2 bytes): Stored in a SignedAngle dataType, in radians [-pi, pi], resolution 1e-4 rad.
Pitch (2 bytes): Stored in a SignedAngle dataType, in radians [-pi, pi], resolution 1e-4 rad.
Roll (2 bytes): Stored in a SignedAngle dataType, in radians [-pi, pi], resolution 1e-4 rad.
Reserved (1 byte): Reserved for future use.

Definition at line 26 of file PGN127257.h.

Constructor & Destructor Documentation

◆ PGN127257() [1/3]

nmealib::nmea2000::PGN127257::PGN127257	(	uint8_t	sequenceId,
		SignedAngle	yaw,
		SignedAngle	pitch,
		SignedAngle	roll,
		Byte	reserved = `Byte::fromValue(0U)`
	)

noexcept

Definition at line 44 of file PGN127257.cpp.

◆ PGN127257() [2/3]

nmealib::nmea2000::PGN127257::PGN127257 ( const PGN127257 & )

default

◆ PGN127257() [3/3]

nmealib::nmea2000::PGN127257::PGN127257 ( PGN127257 && )

defaultnoexcept

◆ ~PGN127257()

nmealib::nmea2000::PGN127257::~PGN127257 ( )

overridedefault

Member Function Documentation

◆ clone()

std::unique_ptr< Message > nmealib::nmea2000::PGN127257::clone ( ) const

overridevirtual

Creates a polymorphic deep copy of this Message2000.

Reimplemented from nmealib::nmea2000::Message2000.

Definition at line 60 of file PGN127257.cpp.

◆ getPitch()

SignedAngle nmealib::nmea2000::PGN127257::getPitch ( ) const

noexcept

Returns: the pitch in radians.

Definition at line 119 of file PGN127257.cpp.

◆ getPitchDegrees()

float nmealib::nmea2000::PGN127257::getPitchDegrees ( ) const

noexcept

Definition at line 135 of file PGN127257.cpp.

◆ getReserved()

Byte nmealib::nmea2000::PGN127257::getReserved ( ) const

noexcept

Returns: reserved byte.

Definition at line 127 of file PGN127257.cpp.

◆ getRoll()

SignedAngle nmealib::nmea2000::PGN127257::getRoll ( ) const

noexcept

Returns: the roll in radians.

Definition at line 123 of file PGN127257.cpp.

◆ getRollDegrees()

float nmealib::nmea2000::PGN127257::getRollDegrees ( ) const

noexcept

Definition at line 139 of file PGN127257.cpp.

◆ getSequenceId()

uint8_t nmealib::nmea2000::PGN127257::getSequenceId ( ) const

noexcept

Returns: the sequence ID.

Definition at line 111 of file PGN127257.cpp.

◆ getStringContent()

std::string nmealib::nmea2000::PGN127257::getStringContent ( bool verbose ) const

overridevirtualnoexcept

Returns a human-readable string representation of the message.

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

Reimplemented from nmealib::nmea2000::Message2000.

Definition at line 64 of file PGN127257.cpp.

◆ getYaw()

SignedAngle nmealib::nmea2000::PGN127257::getYaw ( ) const

noexcept

Returns: the yaw in radians.

Definition at line 115 of file PGN127257.cpp.

◆ getYawDegrees()

float nmealib::nmea2000::PGN127257::getYawDegrees ( ) const

noexcept

Definition at line 131 of file PGN127257.cpp.

◆ operator=() [1/2]

PGN127257 & nmealib::nmea2000::PGN127257::operator= ( const PGN127257 & )

default

◆ operator=() [2/2]

PGN127257 & nmealib::nmea2000::PGN127257::operator= ( PGN127257 && )

defaultnoexcept

◆ operator==() [1/2]

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

virtualnoexcept

Reimplemented from nmealib::nmea2000::Message2000.

Definition at line 192 of file nmea2000.cpp.

◆ operator==() [2/2]

bool nmealib::nmea2000::PGN127257::operator== ( const PGN127257 & other ) const

noexcept

Definition at line 143 of file PGN127257.cpp.

Friends And Related Symbol Documentation

◆ MessageRegistry

friend class MessageRegistry

friend

Definition at line 94 of file PGN127257.h.

◆ Nmea2000Factory

friend class Nmea2000Factory

friend

Definition at line 93 of file PGN127257.h.

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

include/nmealib/nmea2000/PGN127257.h
src/nmea2000/PGN127257.cpp

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PGN127257() [1/3]

◆ PGN127257() [2/3]

◆ PGN127257() [3/3]

◆ ~PGN127257()

Member Function Documentation

◆ clone()

◆ getPitch()

◆ getPitchDegrees()

◆ getReserved()

◆ getRoll()

◆ getRollDegrees()

◆ getSequenceId()

◆ getStringContent()

◆ getYaw()

◆ getYawDegrees()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==() [1/2]

◆ operator==() [2/2]

Friends And Related Symbol Documentation

◆ MessageRegistry

◆ Nmea2000Factory