carma::canbus::Message Class Reference

Class to encapsulate a CAN message. More...

#include <carma/canbus/Message.h>

Public Member Functions
::std::string	dump (bool abbreviate, bool ascii) const
	Dump everything we know about this message in CARMAesque. More...
carma::canbus::busIdType	getBusId () const
	Get CAN bus Id. More...
DataVector	getData () const
	Get the data as a vector of up to 8 bytes. More...
carma::canbus::idType	getId () const
	Get CAN message id. More...
double	getRxMjd () const
	Return the Rx MJD time. More...
bool	isSimulated () const
	Return simulated flag. More...
	Message ()
	Default constructor. More...
	Message (carma::canbus::idType id, carma::canbus::busIdType busId)
	Create an extended message with specified id and busId. More...
	Message (carma::canbus::idType id, const DataVector &data, carma::canbus::busIdType busId)
	Create an extended message with the specified ids and data. More...
	Message (const Message &other)
	Copy constructor. More...
bool	operator!= (const Message &other)
	Returns false if the id's, busId's or data differs (including length). More...
carma::canbus::Message &	operator<< (unsigned char rvalue)
	Add an unsigned char to CAN message data. More...
carma::canbus::Message &	operator<< (unsigned short rvalue)
	Add an unsigned short to CAN message data. More...
carma::canbus::Message &	operator<< (short rvalue)
	Add a signed short to CAN message data. More...
carma::canbus::Message &	operator<< (unsigned long int rvalue)
	Add an unsigned long integer to CAN message data. More...
carma::canbus::Message &	operator<< (long int rvalue)
	Add a long integer to CAN message data. More...
carma::canbus::Message &	operator<< (float rvalue)
	Add an IEEE 754-1990 float to CAN message data. More...
carma::canbus::Message &	operator<< (double rvalue)
	Add an IEEE 754-1990 double float to CAN message data. More...
Message &	operator= (const Message &other)
	Assignment operator. More...
bool	operator== (const Message &other)
	Returns true if the id's, data and busId's are identical (including data length). More...
void	setBusId (carma::canbus::busIdType busId)
	Set bus Id. More...
void	setData (const carma::canbus::DataVector &data)
	Set the data. More...
void	setId (carma::canbus::idType id)
	Set CAN message id. More...
void	setRxMjd (double mjd)
	Set the rxMjd time. More...
void	setSimFlag (bool sim)
	Set the simulated flag. More...

Detailed Description

Class to encapsulate a CAN message.

Definition at line 21 of file Message.h.

Constructor & Destructor Documentation

carma::canbus::Message::Message

(

)

Default constructor.

Creates a Message with an id of 0, busId 0, and no data.

carma::canbus::Message::Message	(	carma::canbus::idType	id,
		carma::canbus::busIdType	busId
	)

Create an extended message with specified id and busId.

Exceptions

CAN::Error

if the id is illegal (more than 29 bits).

carma::canbus::Message::Message	(	carma::canbus::idType	id,
		const DataVector &	data,
		carma::canbus::busIdType	busId
	)

Create an extended message with the specified ids and data.

Exceptions

CAN::Error

if the id is illegal or the data contains more than 8 bytes.

carma::canbus::Message::Message

(

const Message &

other

)

Copy constructor.

Member Function Documentation

::std::string carma::canbus::Message::dump	(	bool	abbreviate,
		bool	ascii
	)		const

Dump everything we know about this message in CARMAesque.

Prints the bus, api and node (or board type and serial number), message id, whether it was intended for the host or nodes and the raw data in hex.

Parameters

abbreviate	Only output data if true.
ascii	Output data as ascii text if true.

Returns

string containing dumped data.

carma::canbus::busIdType carma::canbus::Message::getBusId

(

)

const

Get CAN bus Id.

DataVector carma::canbus::Message::getData

(

)

const

Get the data as a vector of up to 8 bytes.

carma::canbus::idType carma::canbus::Message::getId

(

)

const

Get CAN message id.

Returns

CAN message id.

double carma::canbus::Message::getRxMjd

(

)

const

Return the Rx MJD time.

bool carma::canbus::Message::isSimulated

(

)

const

Return simulated flag.

This method should be used to determine if the Message was artificially constructed for simulation purposes (i.e. not retrieved from or posted to a CAN bus).

Returns

True if message is simulated, false otherwise.

bool carma::canbus::Message::operator!=

(

const Message &

other

)

Returns false if the id's, busId's or data differs (including length).

carma::canbus::Message& carma::canbus::Message::operator<<

(

unsigned char

rvalue

)

Add an unsigned char to CAN message data.

Exceptions

carma::canbus::BadDataSizeException

if resulting data size is > 8 bytes.

carma::canbus::Message& carma::canbus::Message::operator<<

(

unsigned short

rvalue

)

Add an unsigned short to CAN message data.

Exceptions

carma::canbus::BadDataSizeException

if resulting data size is > 8 bytes.

carma::canbus::Message& carma::canbus::Message::operator<<

(

short

rvalue

)

Add a signed short to CAN message data.

Exceptions

carma::canbus::BadDataSizeException

if resulting data size is > 8 bytes.

carma::canbus::Message& carma::canbus::Message::operator<<

(

unsigned long int

rvalue

)

Add an unsigned long integer to CAN message data.

Exceptions

carma::canbus::BadDataSizeException

if resulting data size is > 8 bytes.

carma::canbus::Message& carma::canbus::Message::operator<<

(

long int

rvalue

)

Add a long integer to CAN message data.

Exceptions

carma::canbus::BadDataSizeException

if resulting data size is > 8 bytes.

carma::canbus::Message& carma::canbus::Message::operator<<

(

float

rvalue

)

Add an IEEE 754-1990 float to CAN message data.

Exceptions

carma::canbus::BadDataSizeException

if resulting data size is > 8 bytes.

carma::canbus::Message& carma::canbus::Message::operator<<

(

double

rvalue

)

Add an IEEE 754-1990 double float to CAN message data.

Exceptions

carma::canbus::BadDataSizeException

if resulting data size is > 8 bytes.

Message& carma::canbus::Message::operator=

(

const Message &

other

)

Assignment operator.

bool carma::canbus::Message::operator==

(

const Message &

other

)

Returns true if the id's, data and busId's are identical (including data length).

void carma::canbus::Message::setBusId

(

carma::canbus::busIdType

busId

)

Set bus Id.

void carma::canbus::Message::setData

(

const carma::canbus::DataVector &

data

)

Set the data.

Exceptions

carma::canbus::BadDataSizeException

if the data contains more than 8 bytes.

void carma::canbus::Message::setId

(

carma::canbus::idType

id

)

Set CAN message id.

Exceptions

carma::canbus::BadParameterException

if id is illegal (more than 29 bits).

void carma::canbus::Message::setRxMjd

(

double

mjd

)

Set the rxMjd time.

void carma::canbus::Message::setSimFlag

(

bool

sim

)

Set the simulated flag.

This flag should be set if the message is being artificially created for simulation purposes (i.e. it isn't actually retrieved from or sent to the CAN bus). For the most part, it is set internally by the canbus::Master class.

Parameters

sim	True if message is simulated, false if not.

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

• carma/canbus/Message.h