nmea2000.h

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#pragma once
 
#include "message.h"
#include "nmeaException.h"
 
#include <chrono>
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
 
namespace nmealib {
namespace nmea2000 {
 
class InvalidPgnException : public NmeaException {
public:
    explicit InvalidPgnException(const std::string& context, const std::string& details = "") :
        NmeaException(context, "NMEA 2000 PGN is invalid", details) {}
};
 
class InvalidCanFrameException : public NmeaException {
public:
    explicit InvalidCanFrameException(const std::string& context, const std::string& details = "") :
        NmeaException(context, "NMEA 2000 CAN frame is invalid", details) {}
};
 
class FrameTooLongException : public NmeaException {
public:
    explicit FrameTooLongException(const std::string& context, const std::string& details = "") :
        NmeaException(context, "NMEA 2000 CAN frame exceeds maximum length of 223 bytes", details) {}
};
 
class Message2000 : public nmealib::Message {
public:
    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;
 
    // -------------------------------------------------------------------------
    // Raw data accessors
    // -------------------------------------------------------------------------
 
    const std::vector<uint8_t>& getCanId() const noexcept;
 
    const std::vector<uint8_t>& getCanFrame() const noexcept;
 
    uint8_t getCanFrameLength() const noexcept;
 
    // -------------------------------------------------------------------------
    // CAN Id field accessors
    //
    // canId_[0]: [ 0   0   0  P3  P2  P1  R1  DP ]
    // canId_[1]: PDU Format  (PF8..PF1)
    // canId_[2]: PDU Specific (PS8..PS1)
    // canId_[3]: Source Address (SA8..SA1)
    // -------------------------------------------------------------------------
 
    uint8_t getPriority()  const noexcept;
 
    bool getPriority3() const noexcept;  
    bool getPriority2() const noexcept;  
    bool getPriority1() const noexcept;  
 
    bool getHeaderReserved()  const noexcept;  
 
    bool getDataPage()  const noexcept;  
 
    uint8_t getPDUFormat()   const noexcept;  
 
    uint8_t getPDUSpecific() const noexcept;  
 
    uint8_t getSourceAddress()      const noexcept;  
 
    uint8_t getDestinationAddress() const noexcept;
 
    // NOTE: getRemoteTransmissionRequest() and getDataLengthCode() have been
    // removed. RTR and DLC are CAN bus framing fields handled by hardware/drivers
    // and are not encoded in the 29-bit CAN Id.
 
    // -------------------------------------------------------------------------
    // PGN accessor
    // -------------------------------------------------------------------------
 
    uint32_t getPgn() const noexcept;
 
    // -------------------------------------------------------------------------
    // Output
    // -------------------------------------------------------------------------
 
    virtual std::string getStringContent(bool verbose) const noexcept;
 
    std::string serialize() const override;
 
    // -------------------------------------------------------------------------
    // Comparison and validation
    // -------------------------------------------------------------------------
 
    virtual bool operator==(const Message2000& other) const noexcept;
 
    bool validate() const override;
 
protected:
    std::vector<uint8_t> canId_;     
    std::vector<uint8_t> canFrame_;  
 
    static std::unique_ptr<Message2000> create(std::string raw,
                                               TimePoint ts = std::chrono::system_clock::now());
 
    std::string toString(bool verbose) const noexcept;
 
private:
    explicit Message2000(std::string raw,
                         TimePoint ts,
                         std::vector<uint8_t> canId,
                         std::vector<uint8_t> canFrame) noexcept;
 
    static uint32_t extractPgnFromCanId(const std::vector<uint8_t>& canId) noexcept;
 
    static bool isValidPgn(uint32_t pgn) noexcept;
 
    friend class Nmea2000Factory;
};
 
} // namespace nmea2000
} // namespace nmealib