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NMEA2000 speed (using CourseOverGroundSpeedOverGroundRapidUpdate) #6

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NMEA2000 speed (using CourseOverGroundSpeedOverGroundRapidUpdate) #6

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cee4940
feat: nmea2k speed (using CourseOverGroundSpeedOverGroundRapidUpdate)
GwnDaan Feb 2, 2025
2d03398
fix: incorrect file character for file log
GwnDaan Feb 2, 2025
7f9c23d
refactor: corrected speed conversion
GwnDaan Feb 5, 2025
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5 changes: 4 additions & 1 deletion include/app.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@

#include "isobus/hardware_integration/can_hardware_plugin.hpp"
#include "isobus/isobus/isobus_speed_distance_messages.hpp"
#include "isobus/isobus/nmea2000_message_interface.hpp"

#include "settings.hpp"
#include "task_controller.hpp"
Expand All @@ -34,5 +35,7 @@ class Application

std::shared_ptr<isobus::CANHardwarePlugin> canDriver;
std::shared_ptr<MyTCServer> tcServer;
std::shared_ptr<isobus::SpeedMessagesInterface> speedMessagesInterface;
std::unique_ptr<isobus::SpeedMessagesInterface> speedMessagesInterface;
std::unique_ptr<isobus::NMEA2000MessageInterface> nmea2000MessageInterface;
std::uint8_t nmea2000SequenceIdentifier = 0;
};
15 changes: 12 additions & 3 deletions src/app.cpp
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Expand Up @@ -73,8 +73,11 @@ bool Application::initialize()
tcServer->initialize();

// Initialize speed and distance messages
speedMessagesInterface = std::make_shared<isobus::SpeedMessagesInterface>(serverCF, false, false, true, false);
speedMessagesInterface = std::make_unique<isobus::SpeedMessagesInterface>(serverCF, false, false, true, false);
speedMessagesInterface->initialize();
nmea2000MessageInterface = std::make_unique<isobus::NMEA2000MessageInterface>(serverCF, false, false, false, false, false, false, false);
nmea2000MessageInterface->initialize();
nmea2000MessageInterface->set_enable_sending_cog_sog_cyclically(true);

std::cout << "Task controller server started." << std::endl;

Expand All @@ -87,13 +90,18 @@ bool Application::initialize()
std::uint16_t speed = data[0] | (data[1] << 8);
std::uint8_t status = data[2];

// Convert from km/h to mm/s
speed = speed * 1E5 / 3600;
// Convert from hm/h to mm/s
speed *= 1000 / 36;

speedMessagesInterface->machineSelectedSpeedTransmitData.set_speed_source(isobus::SpeedMessagesInterface::MachineSelectedSpeedData::SpeedSource::NavigationBasedSpeed);
speedMessagesInterface->machineSelectedSpeedTransmitData.set_machine_direction_of_travel(isobus::SpeedMessagesInterface::MachineDirection::Forward); // TODO: Implement direction
speedMessagesInterface->machineSelectedSpeedTransmitData.set_machine_speed(speed);
speedMessagesInterface->machineSelectedSpeedTransmitData.set_machine_distance(0); // TODO: Implement distance
auto &cog_sog_message = nmea2000MessageInterface->get_cog_sog_transmit_message();
cog_sog_message.set_sequence_id(nmea2000SequenceIdentifier++);
cog_sog_message.set_speed_over_ground(speed);
cog_sog_message.set_course_over_ground(0); // TODO: Implement course
cog_sog_message.set_course_over_ground_reference(isobus::NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate::CourseOverGroundReference::NotApplicableOrNull);

std::int32_t xte = (data[5] - 127) * 2;
static const std::uint8_t xteMode = 0b00000001;
Expand Down Expand Up @@ -155,6 +163,7 @@ bool Application::update()
tcServer->request_measurement_commands();
tcServer->update();
speedMessagesInterface->update();
nmea2000MessageInterface->update();

if (isobus::SystemTiming::time_expired_ms(lastHeartbeatTransmit, 100))
{
Expand Down
2 changes: 1 addition & 1 deletion src/logging.cpp
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Expand Up @@ -59,7 +59,7 @@ static void setup_file_logging()
std::to_string(localTime.tm_year + 1900) + "-" +
std::to_string(localTime.tm_mon + 1) + "-" +
std::to_string(localTime.tm_mday) + "_" +
std::to_string(localTime.tm_hour) + ":" +
std::to_string(localTime.tm_hour) + "-" +
std::to_string(localTime.tm_min) + ".log";

teeStream = std::make_unique<TeeStreambuf>(std::cout, Settings::get_filename_path(logFilename));
Expand Down