Merge /u/thbr/flightgear/ branch tb-next into next
https://sourceforge.net/p/flightgear/flightgear/merge-requests/107/
This commit is contained in:
James Turner
commit
d638e7a73b
6 changed files with 427 additions and 890 deletions
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@ -620,7 +620,7 @@ TCAS::ThreatDetector::checkThreat(int mode, const SGPropertyNode* pModel)
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#ifdef FEATURE_TCAS_DEBUG_THREAT_DETECTOR
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checkCount++;
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#endif
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if (!pModel->getBoolValue("valid"))
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if (!pModel->getBoolValue("valid", true))
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return ThreatInvisible;
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float velocityKt = pModel->getDoubleValue("velocities/true-airspeed-kt");
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@ -124,62 +124,44 @@ FGIO::parse_port_config( const string& config )
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atcsim->set_path_names(tokens[2], tokens[3], tokens[4], tokens[5]);
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return atcsim;
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} else if ( protocol == "atlas" ) {
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FGAtlas *atlas = new FGAtlas;
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io = atlas;
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io = new FGAtlas;
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} else if ( protocol == "opengc" ) {
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FGOpenGC *opengc = new FGOpenGC;
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io = opengc;
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io = new FGOpenGC;
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} else if ( protocol == "AV400" ) {
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FGAV400 *av400 = new FGAV400;
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io = av400;
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io = new FGAV400;
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} else if ( protocol == "AV400Sim" ) {
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FGAV400Sim *av400sim = new FGAV400Sim;
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io = av400sim;
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io = new FGAV400Sim;
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} else if ( protocol == "AV400WSimA" ) {
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FGAV400WSimA *av400wsima = new FGAV400WSimA;
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io = av400wsima;
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io = new FGAV400WSimA;
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} else if ( protocol == "AV400WSimB" ) {
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FGAV400WSimB *av400wsimb = new FGAV400WSimB;
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io = av400wsimb;
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io = new FGAV400WSimB;
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} else if ( protocol == "garmin" ) {
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FGGarmin *garmin = new FGGarmin;
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io = garmin;
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io = new FGGarmin();
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} else if ( protocol == "igc" ) {
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IGCProtocol *igc = new IGCProtocol;
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io = igc;
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io = new IGCProtocol;
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} else if ( protocol == "joyclient" ) {
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FGJoyClient *joyclient = new FGJoyClient;
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io = joyclient;
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io = new FGJoyClient;
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} else if ( protocol == "jsclient" ) {
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FGJsClient *jsclient = new FGJsClient;
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io = jsclient;
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io = new FGJsClient;
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} else if ( protocol == "native" ) {
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FGNative *native = new FGNative;
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io = native;
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io = new FGNative;
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} else if ( protocol == "native-ctrls" ) {
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FGNativeCtrls *native_ctrls = new FGNativeCtrls;
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io = native_ctrls;
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io = new FGNativeCtrls;
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} else if ( protocol == "native-fdm" ) {
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FGNativeFDM *native_fdm = new FGNativeFDM;
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io = native_fdm;
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io = new FGNativeFDM;
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} else if ( protocol == "native-gui" ) {
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FGNativeGUI *net_gui = new FGNativeGUI;
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io = net_gui;
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io = new FGNativeGUI;
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} else if ( protocol == "nmea" ) {
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FGNMEA *nmea = new FGNMEA;
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io = nmea;
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io = new FGNMEA();
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} else if ( protocol == "props" || protocol == "telnet" ) {
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io = new FGProps( tokens );
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return io;
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} else if ( protocol == "pve" ) {
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FGPVE *pve = new FGPVE;
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io = pve;
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io = new FGPVE;
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} else if ( protocol == "ray" ) {
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FGRAY *ray = new FGRAY;
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io = ray;
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io = new FGRAY;
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} else if ( protocol == "rul" ) {
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FGRUL *rul = new FGRUL;
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io = rul;
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io = new FGRUL;
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} else if ( protocol == "generic" ) {
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FGGeneric *generic = new FGGeneric( tokens );
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if (!generic->getInitOk())
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@ -243,8 +225,9 @@ FGIO::parse_port_config( const string& config )
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return NULL;
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}
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if (tokens.size() < 3) {
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SG_LOG( SG_IO, SG_ALERT, "Incompatible number of network arguments.");
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if (tokens.size() < 4) {
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SG_LOG( SG_IO, SG_ALERT, "Too few arguments for network protocol. At least 3 arguments required. " <<
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"Usage: --" << protocol << "=(file|socket|serial), (in|out|bi), hertz");
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delete io;
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return NULL;
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}
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@ -261,8 +244,9 @@ FGIO::parse_port_config( const string& config )
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SG_LOG( SG_IO, SG_INFO, " hertz = " << hertz );
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if ( medium == "serial" ) {
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if ( tokens.size() < 5) {
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SG_LOG( SG_IO, SG_ALERT, "Incompatible number of arguments for serial communications.");
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if ( tokens.size() < 6) {
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SG_LOG( SG_IO, SG_ALERT, "Too few arguments for serial communications. " <<
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"Usage --" << protocol << "=serial, (in|out|bi), hertz, device, baudrate");
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delete io;
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return NULL;
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}
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@ -291,8 +275,9 @@ FGIO::parse_port_config( const string& config )
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}
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} else if ( medium == "file" ) {
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// file name
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if ( tokens.size() < 4) {
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SG_LOG( SG_IO, SG_ALERT, "Incompatible number of arguments for file I/O.");
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if ( tokens.size() < 5) {
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SG_LOG( SG_IO, SG_ALERT, "Too few arguments for file I/O. " <<
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"Usage --" << protocol << "=file, (in|out), hertz, filename (,repeat)");
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delete io;
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return NULL;
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}
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@ -313,8 +298,9 @@ FGIO::parse_port_config( const string& config )
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SGFile *ch = new SGFile( file, repeat );
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io->set_io_channel( ch );
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} else if ( medium == "socket" ) {
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if ( tokens.size() < 6) {
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SG_LOG( SG_IO, SG_ALERT, "Incompatible number of arguments for socket communications.");
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if ( tokens.size() < 7) {
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SG_LOG( SG_IO, SG_ALERT, "Too few arguments for socket communications. " <<
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"Usage --" << protocol << "=socket, (in|out|bi), hertz, hostname, port, (tcp|udp)");
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delete io;
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return NULL;
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}
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@ -1,4 +1,4 @@
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// garmin.cxx -- Garmin protocal class
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// garmin.cxx -- Garmin protocol class
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//
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// Written by Curtis Olson, started November 1999.
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//
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@ -24,414 +24,80 @@
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# include "config.h"
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#endif
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#include <iostream>
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#include <cstdlib>
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#include <cstring>
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#include <cstdio>
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#include <simgear/debug/logstream.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/io/iochannel.hxx>
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#include <simgear/timing/sg_time.hxx>
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#include <FDM/flightProperties.hxx>
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#include <Main/fg_props.hxx>
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#include <Main/globals.hxx>
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#include <simgear/constants.h>
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#include "garmin.hxx"
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using std::string;
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using namespace NMEA;
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FGGarmin::FGGarmin() {
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fdm = new FlightProperties;
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}
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FGGarmin::~FGGarmin() {
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delete fdm;
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FGGarmin::FGGarmin() :
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FGNMEA(),
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mGarminMessages(GARMIN::PGRMZ),
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mMetric(true) // use metric altitude reports
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// In fact Garmin devices normally seem report barometric altitude in feet (not meters), but
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// the FG implementation has always used metric reports for years (and we keep it this way,
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// to avoid complaints about changed implementation). The unit is also part of the NMEA message,
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// so smart devices are probably ok with both anyway.
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{
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// only enable the GPRMC standard NMEA message
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mNmeaMessages = NMEA::GPRMC;
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// Garmin uses CR-LF line feeds.
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mLineFeed = "\r\n";
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}
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// calculate the garmin check sum
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static char calc_nmea_cksum(char *sentence) {
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unsigned char sum = 0;
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int i, len;
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len = strlen(sentence);
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sum = sentence[0];
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for ( i = 1; i < len; i++ ) {
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sum ^= sentence[i];
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}
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return sum;
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FGGarmin::~FGGarmin()
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{
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}
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// generate Garmin message
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bool FGGarmin::gen_message() {
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char rmc[256], rmc_sum[256], rmz[256], rmz_sum[256], gsa[256];
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char dir;
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int deg;
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double min;
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// generate Garmin NMEA messages
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bool FGGarmin::gen_message()
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{
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(void) FGNMEA::gen_message();
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SGTime *t = globals->get_time_params();
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char nmea[256];
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char utc[10];
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sprintf( utc, "%02d%02d%02d",
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t->getGmt()->tm_hour, t->getGmt()->tm_min, t->getGmt()->tm_sec );
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// RMZ sentence (Garmin proprietary)
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if (mGarminMessages & GARMIN::PGRMZ)
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{
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double altitude_ft = mFdm.get_Altitude();
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char rmc_lat[20];
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double latd = fdm->get_Latitude() * SGD_RADIANS_TO_DEGREES;
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if ( latd < 0.0 ) {
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latd = -latd;
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dir = 'S';
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} else {
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dir = 'N';
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}
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deg = (int)(latd);
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min = (latd - (double)deg) * 60.0;
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sprintf( rmc_lat, "%02d%07.4f,%c", abs(deg), min, dir);
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char rmc_lon[20];
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double lond = fdm->get_Longitude() * SGD_RADIANS_TO_DEGREES;
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if ( lond < 0.0 ) {
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lond = -lond;
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dir = 'W';
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} else {
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dir = 'E';
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}
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deg = (int)(lond);
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min = (lond - (double)deg) * 60.0;
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sprintf( rmc_lon, "%03d%07.4f,%c", abs(deg), min, dir);
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char speed[10];
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sprintf( speed, "%05.1f", fdm->get_V_equiv_kts() );
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char heading[10];
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sprintf( heading, "%05.1f", fdm->get_Psi() * SGD_RADIANS_TO_DEGREES );
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char altitude_m[10];
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sprintf( altitude_m, "%02d",
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(int)(fdm->get_Altitude() * SG_FEET_TO_METER) );
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char date[10];
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int year = t->getGmt()->tm_year;
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while ( year >= 100 ) { year -= 100; }
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sprintf( date, "%02d%02d%02d", t->getGmt()->tm_mday,
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t->getGmt()->tm_mon+1, year );
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char magvar[10];
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float magdeg = fgGetDouble( "/environment/magnetic-variation-deg" );
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if ( magdeg < 0.0 ) {
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magdeg = -magdeg;
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dir = 'W';
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} else {
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dir = 'E';
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}
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sprintf( magvar, "%05.1f,%c", magdeg, dir );
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// $GPRMC,HHMMSS,A,DDMM.MMMM,N,DDDMM.MMMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E*XX
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sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,%s",
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utc, rmc_lat, rmc_lon, speed, heading, date, magvar );
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sprintf( rmc_sum, "%02X", calc_nmea_cksum(rmc) );
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// sprintf( gga, "$GPGGA,%s,%s,%s,1,04,0.0,%s,M,00.0,M,,*00\r\n",
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// utc, lat, lon, altitude_m );
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sprintf( rmz, "PGRMZ,%s,M,3", altitude_m );
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sprintf( rmz_sum, "%02X", calc_nmea_cksum(rmz) );
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sprintf( gsa, "%s",
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"$GPGSA,A,3,01,02,03,,05,,07,,09,,11,12,0.9,0.9,2.0*38" );
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SG_LOG( SG_IO, SG_DEBUG, rmc );
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SG_LOG( SG_IO, SG_DEBUG, rmz );
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SG_LOG( SG_IO, SG_DEBUG, gsa );
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string garmin_sentence;
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// RMC sentence
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garmin_sentence = "$";
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garmin_sentence += rmc;
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garmin_sentence += "*";
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garmin_sentence += rmc_sum;
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garmin_sentence += "\r\n";
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// RMZ sentence (garmin proprietary)
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garmin_sentence += "$";
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garmin_sentence += rmz;
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garmin_sentence += "*";
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garmin_sentence += rmz_sum;
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garmin_sentence += "\r\n";
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// GSA sentence (totally faked)
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garmin_sentence += gsa;
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garmin_sentence += "\r\n";
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length = garmin_sentence.length();
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strncpy( buf, garmin_sentence.c_str(), length );
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return true;
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}
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// parse Garmin message
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bool FGGarmin::parse_message() {
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SG_LOG( SG_IO, SG_INFO, "parse garmin message" );
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string msg = buf;
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msg = msg.substr( 0, length );
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SG_LOG( SG_IO, SG_INFO, "entire message = " << msg );
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string::size_type begin_line, end_line, begin, end;
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begin_line = begin = 0;
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// extract out each line
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end_line = msg.find("\n", begin_line);
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while ( end_line != string::npos ) {
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string line = msg.substr(begin_line, end_line - begin_line);
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begin_line = end_line + 1;
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SG_LOG( SG_IO, SG_INFO, " input line = " << line );
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// leading character
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string start = msg.substr(begin, 1);
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++begin;
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SG_LOG( SG_IO, SG_INFO, " start = " << start );
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// sentence
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end = msg.find(",", begin);
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if ( end == string::npos ) {
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return false;
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}
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string sentence = msg.substr(begin, end - begin);
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begin = end + 1;
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SG_LOG( SG_IO, SG_INFO, " sentence = " << sentence );
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double lon_deg, lon_min, lat_deg, lat_min;
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double lon, lat, speed, heading, altitude;
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if ( sentence == "GPRMC" ) {
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// time
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end = msg.find(",", begin);
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if ( end == string::npos ) {
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return false;
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}
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string utc = msg.substr(begin, end - begin);
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begin = end + 1;
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SG_LOG( SG_IO, SG_INFO, " utc = " << utc );
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// junk
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end = msg.find(",", begin);
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if ( end == string::npos ) {
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return false;
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}
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string junk = msg.substr(begin, end - begin);
|
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begin = end + 1;
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SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
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// lat val
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end = msg.find(",", begin);
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if ( end == string::npos ) {
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return false;
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}
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string lat_str = msg.substr(begin, end - begin);
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begin = end + 1;
|
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lat_deg = atof( lat_str.substr(0, 2).c_str() );
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lat_min = atof( lat_str.substr(2).c_str() );
|
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// lat dir
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end = msg.find(",", begin);
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if ( end == string::npos ) {
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return false;
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}
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||||
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string lat_dir = msg.substr(begin, end - begin);
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begin = end + 1;
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lat = lat_deg + ( lat_min / 60.0 );
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if ( lat_dir == "S" ) {
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lat *= -1;
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}
|
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fdm->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
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SG_LOG( SG_IO, SG_INFO, " lat = " << lat );
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// lon val
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end = msg.find(",", begin);
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if ( end == string::npos ) {
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return false;
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}
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string lon_str = msg.substr(begin, end - begin);
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begin = end + 1;
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lon_deg = atof( lon_str.substr(0, 3).c_str() );
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lon_min = atof( lon_str.substr(3).c_str() );
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// lon dir
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end = msg.find(",", begin);
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if ( end == string::npos ) {
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return false;
|
||||
}
|
||||
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string lon_dir = msg.substr(begin, end - begin);
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begin = end + 1;
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lon = lon_deg + ( lon_min / 60.0 );
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if ( lon_dir == "W" ) {
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lon *= -1;
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}
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fdm->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
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||||
SG_LOG( SG_IO, SG_INFO, " lon = " << lon );
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#if 0
|
||||
double sl_radius, lat_geoc;
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sgGeodToGeoc( fdm->get_Latitude(),
|
||||
fdm->get_Altitude(),
|
||||
&sl_radius, &lat_geoc );
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||||
fdm->set_Geocentric_Position( lat_geoc,
|
||||
fdm->get_Longitude(),
|
||||
sl_radius + fdm->get_Altitude() );
|
||||
#endif
|
||||
|
||||
// speed
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string speed_str = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
speed = atof( speed_str.c_str() );
|
||||
fdm->set_V_calibrated_kts( speed );
|
||||
// fdm->set_V_ground_speed( speed );
|
||||
SG_LOG( SG_IO, SG_INFO, " speed = " << speed );
|
||||
|
||||
// heading
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string hdg_str = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
heading = atof( hdg_str.c_str() );
|
||||
fdm->set_Euler_Angles( fdm->get_Phi(),
|
||||
fdm->get_Theta(),
|
||||
heading * SGD_DEGREES_TO_RADIANS );
|
||||
SG_LOG( SG_IO, SG_INFO, " heading = " << heading );
|
||||
} else if ( sentence == "PGRMZ" ) {
|
||||
// altitude
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string alt_str = msg.substr(begin, end - begin);
|
||||
altitude = atof( alt_str.c_str() );
|
||||
begin = end + 1;
|
||||
|
||||
// altitude units
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string alt_units = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
|
||||
if ( alt_units != "F" && alt_units != "f" ) {
|
||||
altitude *= SG_METER_TO_FEET;
|
||||
}
|
||||
|
||||
fdm->set_Altitude( altitude );
|
||||
|
||||
SG_LOG( SG_IO, SG_INFO, " altitude = " << altitude );
|
||||
|
||||
}
|
||||
|
||||
begin = begin_line;
|
||||
end_line = msg.find("\n", begin_line);
|
||||
// $PGRMZ,AAAA.A,F,T*XX
|
||||
if (mMetric)
|
||||
sprintf( nmea, "$PGRMZ,%.1f,M,3", altitude_ft * SG_FEET_TO_METER );
|
||||
else
|
||||
sprintf( nmea, "$PGRMZ,%.1f,F,3", altitude_ft );
|
||||
add_with_checksum(nmea, 256);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// process a Garmin sentence
|
||||
void FGGarmin::parse_message(const std::vector<std::string>& tokens)
|
||||
{
|
||||
if (tokens[0] == "PGRMZ")
|
||||
{
|
||||
if (tokens.size()<3)
|
||||
return;
|
||||
|
||||
// open hailing frequencies
|
||||
bool FGGarmin::open() {
|
||||
if ( is_enabled() ) {
|
||||
SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
|
||||
<< "is already in use, ignoring" );
|
||||
return false;
|
||||
// #1: altitude
|
||||
double altitude = atof( tokens[1].c_str() );
|
||||
|
||||
// #2: altitude units
|
||||
const string& alt_units = tokens[2];
|
||||
if ( alt_units != "F" && alt_units != "f" )
|
||||
altitude *= SG_METER_TO_FEET;
|
||||
|
||||
mFdm.set_Altitude( altitude );
|
||||
|
||||
SG_LOG( SG_IO, SG_DEBUG, " altitude = " << altitude );
|
||||
}
|
||||
|
||||
SGIOChannel *io = get_io_channel();
|
||||
|
||||
if ( ! io->open( get_direction() ) ) {
|
||||
SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
|
||||
return false;
|
||||
else
|
||||
{
|
||||
// not a Garmin message. Maybe standard NMEA message.
|
||||
FGNMEA::parse_message(tokens);
|
||||
}
|
||||
|
||||
set_enabled( true );
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
// process work for this port
|
||||
bool FGGarmin::process() {
|
||||
SGIOChannel *io = get_io_channel();
|
||||
|
||||
if ( get_direction() == SG_IO_OUT ) {
|
||||
gen_message();
|
||||
if ( ! io->write( buf, length ) ) {
|
||||
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
|
||||
return false;
|
||||
}
|
||||
} else if ( get_direction() == SG_IO_IN ) {
|
||||
if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
|
||||
SG_LOG( SG_IO, SG_ALERT, "Success reading data." );
|
||||
if ( parse_message() ) {
|
||||
SG_LOG( SG_IO, SG_ALERT, "Success parsing data." );
|
||||
} else {
|
||||
SG_LOG( SG_IO, SG_ALERT, "Error parsing data." );
|
||||
}
|
||||
} else {
|
||||
SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
|
||||
return false;
|
||||
}
|
||||
if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
|
||||
SG_LOG( SG_IO, SG_ALERT, "Success reading data." );
|
||||
if ( parse_message() ) {
|
||||
SG_LOG( SG_IO, SG_ALERT, "Success parsing data." );
|
||||
} else {
|
||||
SG_LOG( SG_IO, SG_ALERT, "Error parsing data." );
|
||||
}
|
||||
} else {
|
||||
SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
// close the channel
|
||||
bool FGGarmin::close() {
|
||||
SGIOChannel *io = get_io_channel();
|
||||
|
||||
set_enabled( false );
|
||||
|
||||
if ( ! io->close() ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
// garmin.hxx -- Garmin protocal class
|
||||
// garmin.hxx -- Garmin protocol class
|
||||
//
|
||||
// Written by Curtis Olson, started November 1999.
|
||||
//
|
||||
|
|
@ -20,44 +20,36 @@
|
|||
//
|
||||
// $Id$
|
||||
|
||||
|
||||
#ifndef _FG_GARMIN_HXX
|
||||
#define _FG_GARMIN_HXX
|
||||
|
||||
#include "nmea.hxx"
|
||||
|
||||
#include <simgear/compiler.h>
|
||||
namespace NMEA
|
||||
{
|
||||
// Garmin proprietary messages
|
||||
namespace GARMIN
|
||||
{
|
||||
const unsigned int PGRMZ = (1<<0);
|
||||
}
|
||||
}
|
||||
|
||||
#include <string>
|
||||
|
||||
#include "protocol.hxx"
|
||||
class FGGarmin : public FGNMEA {
|
||||
|
||||
class FlightProperties;
|
||||
|
||||
class FGGarmin : public FGProtocol {
|
||||
protected:
|
||||
unsigned int mGarminMessages;
|
||||
bool mMetric;
|
||||
|
||||
// process a Garmin sentence
|
||||
virtual void parse_message(const std::vector<std::string>& tokens);
|
||||
|
||||
char buf[ FG_MAX_MSG_SIZE ];
|
||||
int length;
|
||||
FlightProperties* fdm;
|
||||
|
||||
public:
|
||||
|
||||
FGGarmin();
|
||||
~FGGarmin();
|
||||
|
||||
bool gen_message();
|
||||
bool parse_message();
|
||||
|
||||
// open hailing frequencies
|
||||
bool open();
|
||||
|
||||
// process work for this port
|
||||
bool process();
|
||||
|
||||
// close the channel
|
||||
bool close();
|
||||
virtual bool gen_message();
|
||||
};
|
||||
|
||||
|
||||
#endif // _FG_GARMIN_HXX
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
// nmea.cxx -- NMEA protocal class
|
||||
// nmea.cxx -- NMEA protocol class
|
||||
//
|
||||
// Written by Curtis Olson, started November 1999.
|
||||
//
|
||||
|
|
@ -39,464 +39,338 @@
|
|||
|
||||
#include "nmea.hxx"
|
||||
|
||||
FGNMEA::FGNMEA() {
|
||||
fdm = new FlightProperties();
|
||||
FGNMEA::FGNMEA() :
|
||||
mLength(0),
|
||||
mNmeaMessages(NMEA::SET),
|
||||
mLineFeed("\n")
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
FGNMEA::~FGNMEA() {
|
||||
delete fdm;
|
||||
}
|
||||
|
||||
|
||||
// calculate the nmea check sum
|
||||
static char calc_nmea_cksum(char *sentence) {
|
||||
// calculate the NMEA check sum
|
||||
void FGNMEA::add_with_checksum(char *sentence, unsigned int buf_size) {
|
||||
unsigned int i;
|
||||
unsigned char sum = 0;
|
||||
int i, len;
|
||||
|
||||
// cout << sentence << endl;
|
||||
|
||||
len = strlen(sentence);
|
||||
sum = sentence[0];
|
||||
for ( i = 1; i < len; i++ ) {
|
||||
// cout << sentence[i];
|
||||
for (i = 1; sentence[i] != 0; i++ ) {
|
||||
sum ^= sentence[i];
|
||||
}
|
||||
// cout << endl;
|
||||
|
||||
// printf("sum = %02x\n", sum);
|
||||
return sum;
|
||||
if (i + 6 < buf_size)
|
||||
snprintf( &sentence[i], 6, "*%02X%s", sum, mLineFeed);
|
||||
|
||||
SG_LOG( SG_IO, SG_DEBUG, sentence );
|
||||
|
||||
mNmeaSentence += sentence;
|
||||
}
|
||||
|
||||
|
||||
// generate NMEA message
|
||||
bool FGNMEA::gen_message() {
|
||||
// cout << "generating nmea message" << endl;
|
||||
|
||||
char rmc[256], gga[256], gsa[256];
|
||||
char rmc_sum[10], gga_sum[10];
|
||||
bool FGNMEA::gen_message()
|
||||
{
|
||||
char dir;
|
||||
int deg;
|
||||
double min;
|
||||
char nmea[256];
|
||||
|
||||
SGTime *t = globals->get_time_params();
|
||||
|
||||
char utc[10];
|
||||
sprintf( utc, "%02d%02d%02d",
|
||||
t->getGmt()->tm_hour, t->getGmt()->tm_min, t->getGmt()->tm_sec );
|
||||
t->getGmt()->tm_hour, t->getGmt()->tm_min, t->getGmt()->tm_sec );
|
||||
|
||||
char gga_lat[20], rmc_lat[20];
|
||||
double latd = fdm->get_Latitude() * SGD_RADIANS_TO_DEGREES;
|
||||
if ( latd < 0.0 ) {
|
||||
latd = -latd;
|
||||
dir = 'S';
|
||||
} else {
|
||||
dir = 'N';
|
||||
char lat[20];
|
||||
{
|
||||
double latd = mFdm.get_Latitude() * SGD_RADIANS_TO_DEGREES;
|
||||
if ( latd < 0.0 ) {
|
||||
latd = -latd;
|
||||
dir = 'S';
|
||||
} else {
|
||||
dir = 'N';
|
||||
}
|
||||
deg = (int)(latd);
|
||||
min = (latd - (double)deg) * 60.0;
|
||||
sprintf( lat, "%02d%07.4f,%c", abs(deg), min, dir);
|
||||
}
|
||||
deg = (int)(latd);
|
||||
min = (latd - (double)deg) * 60.0;
|
||||
sprintf( gga_lat, "%02d%07.4f,%c", abs(deg), min, dir);
|
||||
sprintf( rmc_lat, "%02d%07.4f,%c", abs(deg), min, dir);
|
||||
|
||||
char gga_lon[20], rmc_lon[20];
|
||||
double lond = fdm->get_Longitude() * SGD_RADIANS_TO_DEGREES;
|
||||
if ( lond < 0.0 ) {
|
||||
lond = -lond;
|
||||
dir = 'W';
|
||||
} else {
|
||||
dir = 'E';
|
||||
char lon[20];
|
||||
{
|
||||
double lond = mFdm.get_Longitude() * SGD_RADIANS_TO_DEGREES;
|
||||
if ( lond < 0.0 ) {
|
||||
lond = -lond;
|
||||
dir = 'W';
|
||||
} else {
|
||||
dir = 'E';
|
||||
}
|
||||
deg = (int)(lond);
|
||||
min = (lond - (double)deg) * 60.0;
|
||||
sprintf( lon, "%03d%07.4f,%c", abs(deg), min, dir);
|
||||
}
|
||||
deg = (int)(lond);
|
||||
min = (lond - (double)deg) * 60.0;
|
||||
sprintf( gga_lon, "%03d%07.4f,%c", abs(deg), min, dir);
|
||||
sprintf( rmc_lon, "%03d%07.4f,%c", abs(deg), min, dir);
|
||||
|
||||
double vn = fgGetDouble( "/velocities/speed-north-fps" );
|
||||
double ve = fgGetDouble( "/velocities/speed-east-fps" );
|
||||
double fps = sqrt( vn*vn + ve*ve );
|
||||
double mps = fps * SG_FEET_TO_METER;
|
||||
double kts = mps * SG_METER_TO_NM * 3600;
|
||||
|
||||
char speed[10];
|
||||
sprintf( speed, "%.1f", kts );
|
||||
|
||||
double hdg_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
|
||||
if ( hdg_true < 0 ) {
|
||||
hdg_true += 360.0;
|
||||
{
|
||||
double fps = sqrt( vn*vn + ve*ve );
|
||||
double mps = fps * SG_FEET_TO_METER;
|
||||
double kts = mps * SG_METER_TO_NM * 3600;
|
||||
sprintf( speed, "%.1f", kts );
|
||||
}
|
||||
char heading[10];
|
||||
sprintf( heading, "%.1f", hdg_true );
|
||||
|
||||
char altitude_m[10];
|
||||
sprintf( altitude_m, "%.1f",
|
||||
fdm->get_Altitude() * SG_FEET_TO_METER );
|
||||
char heading[10];
|
||||
{
|
||||
double hdg_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
|
||||
if ( hdg_true < 0 ) {
|
||||
hdg_true += 360.0;
|
||||
}
|
||||
sprintf( heading, "%.1f", hdg_true );
|
||||
}
|
||||
|
||||
double altitude_ft = mFdm.get_Altitude();
|
||||
|
||||
char date[10];
|
||||
int year = t->getGmt()->tm_year;
|
||||
while ( year >= 100 ) { year -= 100; }
|
||||
sprintf( date, "%02d%02d%02d", t->getGmt()->tm_mday,
|
||||
t->getGmt()->tm_mon+1, year );
|
||||
{
|
||||
int year = t->getGmt()->tm_year;
|
||||
while ( year >= 100 ) { year -= 100; }
|
||||
sprintf( date, "%02d%02d%02d", t->getGmt()->tm_mday,
|
||||
t->getGmt()->tm_mon+1, year );
|
||||
}
|
||||
|
||||
char magvar[10];
|
||||
float magdeg = fgGetDouble( "/environment/magnetic-variation-deg" );
|
||||
if ( magdeg < 0.0 ) {
|
||||
magdeg = -magdeg;
|
||||
dir = 'W';
|
||||
} else {
|
||||
dir = 'E';
|
||||
{
|
||||
float magdeg = fgGetDouble( "/environment/magnetic-variation-deg" );
|
||||
if ( magdeg < 0.0 ) {
|
||||
magdeg = -magdeg;
|
||||
dir = 'W';
|
||||
} else {
|
||||
dir = 'E';
|
||||
}
|
||||
sprintf( magvar, "%.1f,%c", magdeg, dir );
|
||||
}
|
||||
sprintf( magvar, "%.1f,%c", magdeg, dir );
|
||||
|
||||
// $GPRMC,HHMMSS,A,DDMM.MMMM,N,DDDMM.MMMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E,A*XX
|
||||
sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,%s,A",
|
||||
utc, rmc_lat, rmc_lon, speed, heading, date, magvar );
|
||||
sprintf( rmc_sum, "%02X", calc_nmea_cksum(rmc) );
|
||||
|
||||
// $GPGGA,HHMMSS,DDMM.MMMM,N,DDDMM.MMMM,W,1,NN,H.H,AAAA.A,M,GG.G,M,,*XX
|
||||
sprintf( gga, "GPGGA,%s,%s,%s,1,08,0.9,%s,M,0.0,M,,",
|
||||
utc, gga_lat, gga_lon, altitude_m );
|
||||
sprintf( gga_sum, "%02X", calc_nmea_cksum(gga) );
|
||||
sprintf( gsa, "%s",
|
||||
"$GPGSA,A,3,01,02,03,,05,,07,,09,,11,12,0.9,0.9,2.0*38" );
|
||||
|
||||
SG_LOG( SG_IO, SG_DEBUG, rmc );
|
||||
SG_LOG( SG_IO, SG_DEBUG, gga );
|
||||
SG_LOG( SG_IO, SG_DEBUG, gsa );
|
||||
|
||||
string nmea_sentence;
|
||||
|
||||
// RMC sentence
|
||||
nmea_sentence = "$";
|
||||
nmea_sentence += rmc;
|
||||
nmea_sentence += "*";
|
||||
nmea_sentence += rmc_sum;
|
||||
nmea_sentence += "\n";
|
||||
if (mNmeaMessages & NMEA::GPRMC)
|
||||
{
|
||||
// $GPRMC,HHMMSS,A,DDMM.MMMM,N,DDDMM.MMMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E,A*XX
|
||||
sprintf( nmea, "$GPRMC,%s,A,%s,%s,%s,%s,%s,%s,A",
|
||||
utc, lat, lon, speed, heading, date, magvar );
|
||||
add_with_checksum(nmea, 256);
|
||||
}
|
||||
|
||||
// GGA sentence
|
||||
nmea_sentence += "$";
|
||||
nmea_sentence += gga;
|
||||
nmea_sentence += "*";
|
||||
nmea_sentence += gga_sum;
|
||||
nmea_sentence += "\n";
|
||||
if (mNmeaMessages & NMEA::GPGGA)
|
||||
{
|
||||
// $GPGGA,HHMMSS,DDMM.MMMM,N,DDDMM.MMMM,W,1,NN,H.H,AAAA.A,M,GG.G,M,,*XX
|
||||
sprintf( nmea, "$GPGGA,%s,%s,%s,1,08,0.9,%.1f,M,0.0,M,,",
|
||||
utc, lat, lon, altitude_ft * SG_FEET_TO_METER );
|
||||
add_with_checksum(nmea, 256);
|
||||
}
|
||||
|
||||
// GSA sentence (totally faked)
|
||||
nmea_sentence += gsa;
|
||||
nmea_sentence += "\n";
|
||||
if (mNmeaMessages & NMEA::GPGSA)
|
||||
{
|
||||
sprintf( nmea, "%s%s",
|
||||
"$GPGSA,A,3,01,02,03,,05,,07,,09,,11,12,0.9,0.9,2.0*38", mLineFeed );
|
||||
SG_LOG( SG_IO, SG_DEBUG, nmea );
|
||||
|
||||
// cout << nmea_sentence;
|
||||
|
||||
length = nmea_sentence.length();
|
||||
strncpy( buf, nmea_sentence.c_str(), length );
|
||||
mNmeaSentence += nmea;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
// parse NMEA message. messages will look something like the
|
||||
// following:
|
||||
//
|
||||
// $GPRMC,163227,A,3321.173,N,11039.855,W,000.1,270.0,171199,0.000,E*61
|
||||
// $GPGGA,163227,3321.173,N,11039.855,W,1,,,3333,F,,,,*0F
|
||||
|
||||
bool FGNMEA::parse_message() {
|
||||
SG_LOG( SG_IO, SG_INFO, "parse nmea message" );
|
||||
void FGNMEA::parse_line() {
|
||||
SG_LOG( SG_IO, SG_DEBUG, "parse nmea message" );
|
||||
|
||||
string msg = buf;
|
||||
msg = msg.substr( 0, length );
|
||||
SG_LOG( SG_IO, SG_INFO, "entire message = " << msg );
|
||||
if (mLength > FG_MAX_MSG_SIZE-1)
|
||||
mLength = FG_MAX_MSG_SIZE-1;
|
||||
|
||||
string::size_type begin_line, end_line, begin, end;
|
||||
begin_line = begin = 0;
|
||||
SG_LOG( SG_IO, SG_DEBUG, "entire message = " << mBuf );
|
||||
|
||||
// extract out each line
|
||||
end_line = msg.find("\n", begin_line);
|
||||
while ( end_line != string::npos ) {
|
||||
string line = msg.substr(begin_line, end_line - begin_line);
|
||||
begin_line = end_line + 1;
|
||||
SG_LOG( SG_IO, SG_INFO, " input line = " << line );
|
||||
|
||||
// leading character
|
||||
string start = msg.substr(begin, 1);
|
||||
++begin;
|
||||
SG_LOG( SG_IO, SG_INFO, " start = " << start );
|
||||
|
||||
// sentence
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string sentence = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
SG_LOG( SG_IO, SG_INFO, " sentence = " << sentence );
|
||||
|
||||
double lon_deg, lon_min, lat_deg, lat_min;
|
||||
double lon, lat, speed, heading, altitude;
|
||||
|
||||
if ( sentence == "GPRMC" ) {
|
||||
// time
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string utc = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
SG_LOG( SG_IO, SG_INFO, " utc = " << utc );
|
||||
|
||||
// junk
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string junk = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
|
||||
|
||||
// lat val
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string lat_str = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
|
||||
lat_deg = atof( lat_str.substr(0, 2).c_str() );
|
||||
lat_min = atof( lat_str.substr(2).c_str() );
|
||||
|
||||
// lat dir
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string lat_dir = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
|
||||
lat = lat_deg + ( lat_min / 60.0 );
|
||||
if ( lat_dir == "S" ) {
|
||||
lat *= -1;
|
||||
}
|
||||
|
||||
fdm->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
|
||||
SG_LOG( SG_IO, SG_INFO, " lat = " << lat );
|
||||
|
||||
// lon val
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string lon_str = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
|
||||
lon_deg = atof( lon_str.substr(0, 3).c_str() );
|
||||
lon_min = atof( lon_str.substr(3).c_str() );
|
||||
|
||||
// lon dir
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string lon_dir = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
|
||||
lon = lon_deg + ( lon_min / 60.0 );
|
||||
if ( lon_dir == "W" ) {
|
||||
lon *= -1;
|
||||
}
|
||||
|
||||
fdm->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
|
||||
SG_LOG( SG_IO, SG_INFO, " lon = " << lon );
|
||||
|
||||
#if 0
|
||||
double sl_radius, lat_geoc;
|
||||
sgGeodToGeoc( fdm->get_Latitude(),
|
||||
fdm->get_Altitude(),
|
||||
&sl_radius, &lat_geoc );
|
||||
fdm->set_Geocentric_Position( lat_geoc,
|
||||
fdm->get_Longitude(),
|
||||
sl_radius + fdm->get_Altitude() );
|
||||
#endif
|
||||
|
||||
// speed
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string speed_str = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
speed = atof( speed_str.c_str() );
|
||||
fdm->set_V_calibrated_kts( speed );
|
||||
// fdm->set_V_ground_speed( speed );
|
||||
SG_LOG( SG_IO, SG_INFO, " speed = " << speed );
|
||||
|
||||
// heading
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string hdg_str = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
heading = atof( hdg_str.c_str() );
|
||||
fdm->set_Euler_Angles( fdm->get_Phi(),
|
||||
fdm->get_Theta(),
|
||||
heading * SGD_DEGREES_TO_RADIANS );
|
||||
SG_LOG( SG_IO, SG_INFO, " heading = " << heading );
|
||||
} else if ( sentence == "GPGGA" ) {
|
||||
// time
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string utc = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
SG_LOG( SG_IO, SG_INFO, " utc = " << utc );
|
||||
|
||||
// lat val
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string lat_str = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
|
||||
lat_deg = atof( lat_str.substr(0, 2).c_str() );
|
||||
lat_min = atof( lat_str.substr(2).c_str() );
|
||||
|
||||
// lat dir
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string lat_dir = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
|
||||
lat = lat_deg + ( lat_min / 60.0 );
|
||||
if ( lat_dir == "S" ) {
|
||||
lat *= -1;
|
||||
}
|
||||
|
||||
// fdm->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
|
||||
SG_LOG( SG_IO, SG_INFO, " lat = " << lat );
|
||||
|
||||
// lon val
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string lon_str = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
|
||||
lon_deg = atof( lon_str.substr(0, 3).c_str() );
|
||||
lon_min = atof( lon_str.substr(3).c_str() );
|
||||
|
||||
// lon dir
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string lon_dir = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
|
||||
lon = lon_deg + ( lon_min / 60.0 );
|
||||
if ( lon_dir == "W" ) {
|
||||
lon *= -1;
|
||||
}
|
||||
|
||||
// fdm->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
|
||||
SG_LOG( SG_IO, SG_INFO, " lon = " << lon );
|
||||
|
||||
// junk
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string junk = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
|
||||
|
||||
// junk
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
junk = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
|
||||
|
||||
// junk
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
junk = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
|
||||
|
||||
// altitude
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string alt_str = msg.substr(begin, end - begin);
|
||||
altitude = atof( alt_str.c_str() );
|
||||
begin = end + 1;
|
||||
|
||||
// altitude units
|
||||
end = msg.find(",", begin);
|
||||
if ( end == string::npos ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
string alt_units = msg.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
|
||||
if ( alt_units != "F" ) {
|
||||
altitude *= SG_METER_TO_FEET;
|
||||
}
|
||||
|
||||
fdm->set_Altitude( altitude );
|
||||
|
||||
SG_LOG( SG_IO, SG_INFO, " altitude = " << altitude );
|
||||
|
||||
}
|
||||
|
||||
// printf("%.8f %.8f\n", lon, lat);
|
||||
|
||||
begin = begin_line;
|
||||
end_line = msg.find("\n", begin_line);
|
||||
// test leading character
|
||||
if (mBuf[0] != '$')
|
||||
{
|
||||
SG_LOG( SG_IO, SG_DEBUG, " invalid NMEA start character = " << mBuf[0]);
|
||||
return;
|
||||
}
|
||||
|
||||
return true;
|
||||
// get rid of checksum and "*" delimiter
|
||||
while ((mLength > 0)&&(mBuf[mLength]!='*'))
|
||||
{
|
||||
mLength--;
|
||||
}
|
||||
mBuf[mLength] = 0;
|
||||
|
||||
// split string to tokens
|
||||
std::vector<std::string> tokens;
|
||||
for (unsigned int pos=1;pos < mLength;pos++)
|
||||
{
|
||||
const char* pCurrent = &mBuf[pos];
|
||||
while ((mBuf[pos]!=',')&&(pos<mLength))
|
||||
pos++;
|
||||
if (mBuf[pos]==',')
|
||||
mBuf[pos] = 0;
|
||||
tokens.push_back(pCurrent);
|
||||
}
|
||||
|
||||
if (tokens.size() == 0)
|
||||
return;
|
||||
|
||||
if (tokens.size()>1)
|
||||
{
|
||||
for (unsigned int i=0;i<tokens.size();i++)
|
||||
{
|
||||
SG_LOG( SG_IO, SG_DEBUG, " NMEA token # " << i << ": " << tokens[i]);
|
||||
}
|
||||
parse_message(tokens);
|
||||
}
|
||||
}
|
||||
|
||||
void FGNMEA::parse_message(const std::vector<std::string>& tokens)
|
||||
{
|
||||
double lon_deg, lon_min, lat_deg, lat_min;
|
||||
double lon, lat;
|
||||
string::size_type begin = 0, end;
|
||||
|
||||
if (tokens[0] == "GPRMC" ) {
|
||||
// $GPRMC,HHMMSS,A,DDMM.MMMM,N,DDDMM.MMMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E,A*XX
|
||||
if ( tokens.size()<9)
|
||||
return;
|
||||
|
||||
// #1: time
|
||||
const string& utc = tokens[1];
|
||||
SG_LOG( SG_IO, SG_DEBUG, " utc = " << utc );
|
||||
|
||||
// #2: junk
|
||||
SG_LOG( SG_IO, SG_DEBUG, " junk = " << tokens[2] );
|
||||
|
||||
// #3: lat val
|
||||
lat_deg = atof( tokens[3].substr(0, 2).c_str() );
|
||||
lat_min = atof( tokens[3].substr(2).c_str() );
|
||||
lat = lat_deg + ( lat_min / 60.0 );
|
||||
|
||||
// #4: lat dir
|
||||
if ( tokens[4] == "S" )
|
||||
lat *= -1;
|
||||
|
||||
mFdm.set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
|
||||
|
||||
// #5: lon val
|
||||
lon_deg = atof( tokens[5].substr(0, 3).c_str() );
|
||||
lon_min = atof( tokens[5].substr(3).c_str() );
|
||||
lon = lon_deg + ( lon_min / 60.0 );
|
||||
|
||||
// #6: lon dir
|
||||
if ( tokens[6] == "W" )
|
||||
lon *= -1;
|
||||
|
||||
mFdm.set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
|
||||
SG_LOG( SG_IO, SG_DEBUG, " lat = " << lat << ", lon = " << lon );
|
||||
|
||||
#if 0
|
||||
double sl_radius, lat_geoc;
|
||||
sgGeodToGeoc( mFdm.get_Latitude(),
|
||||
mFdm.get_Altitude(),
|
||||
&sl_radius, &lat_geoc );
|
||||
mFdm.set_Geocentric_Position( lat_geoc,
|
||||
mFdm.get_Longitude(),
|
||||
sl_radius + mFdm.get_Altitude() );
|
||||
#endif
|
||||
|
||||
// #7: speed
|
||||
double speed = atof( tokens[7].c_str() );
|
||||
mFdm.set_V_calibrated_kts( speed );
|
||||
// mFdm.set_V_ground_speed( speed );
|
||||
SG_LOG( SG_IO, SG_DEBUG, " speed = " << speed );
|
||||
|
||||
// #8: heading
|
||||
double heading = atof( tokens[8].c_str() );
|
||||
mFdm.set_Euler_Angles( mFdm.get_Phi(),
|
||||
mFdm.get_Theta(),
|
||||
heading * SGD_DEGREES_TO_RADIANS );
|
||||
SG_LOG( SG_IO, SG_DEBUG, " heading = " << heading );
|
||||
} else
|
||||
if (tokens[0] == "GPGGA" ) {
|
||||
if ( tokens.size()<11)
|
||||
return;
|
||||
|
||||
// #1: time
|
||||
const string& utc = tokens[1];
|
||||
SG_LOG( SG_IO, SG_DEBUG, " utc = " << utc );
|
||||
|
||||
// #2: lat val
|
||||
lat_deg = atof( tokens[2].substr(0, 2).c_str() );
|
||||
lat_min = atof( tokens[2].substr(2).c_str() );
|
||||
lat = lat_deg + ( lat_min / 60.0 );
|
||||
|
||||
// #3: lat dir
|
||||
if ( tokens[4] == "S" )
|
||||
lat *= -1;
|
||||
|
||||
mFdm.set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
|
||||
|
||||
// #4: lon val
|
||||
lon_deg = atof( tokens[4].substr(0, 3).c_str() );
|
||||
lon_min = atof( tokens[4].substr(3).c_str() );
|
||||
lon = lon_deg + ( lon_min / 60.0 );
|
||||
|
||||
// #5: lon dir
|
||||
if ( tokens[5] == "W" )
|
||||
lon *= -1;
|
||||
|
||||
mFdm.set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
|
||||
SG_LOG( SG_IO, SG_DEBUG, " lat = " << lat << ", lon = " << lon );
|
||||
|
||||
// #6: junk
|
||||
SG_LOG( SG_IO, SG_DEBUG, " junk = " << tokens[6] );
|
||||
|
||||
// #7: junk
|
||||
SG_LOG( SG_IO, SG_DEBUG, " junk = " << tokens[7] );
|
||||
|
||||
// #8: junk
|
||||
SG_LOG( SG_IO, SG_DEBUG, " junk = " << tokens[8] );
|
||||
|
||||
// #9: altitude
|
||||
double altitude = atof( tokens[9].c_str() );
|
||||
|
||||
// #10: altitude unit
|
||||
const string& alt_units = tokens[10];
|
||||
|
||||
if ( alt_units != "F" && alt_units != "f" ) {
|
||||
altitude *= SG_METER_TO_FEET;
|
||||
}
|
||||
|
||||
mFdm.set_Altitude( altitude );
|
||||
|
||||
SG_LOG( SG_IO, SG_DEBUG, " altitude = " << altitude );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// open hailing frequencies
|
||||
bool FGNMEA::open() {
|
||||
if ( is_enabled() ) {
|
||||
SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
|
||||
<< "is already in use, ignoring" );
|
||||
return false;
|
||||
SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
|
||||
<< "is already in use, ignoring" );
|
||||
return false;
|
||||
}
|
||||
|
||||
SGIOChannel *io = get_io_channel();
|
||||
|
||||
if ( ! io->open( get_direction() ) ) {
|
||||
SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
|
||||
return false;
|
||||
SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
|
||||
return false;
|
||||
}
|
||||
|
||||
set_enabled( true );
|
||||
|
|
@ -509,28 +383,33 @@ bool FGNMEA::open() {
|
|||
bool FGNMEA::process() {
|
||||
SGIOChannel *io = get_io_channel();
|
||||
|
||||
if ( get_direction() == SG_IO_OUT ) {
|
||||
gen_message();
|
||||
if ( ! io->write( buf, length ) ) {
|
||||
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
|
||||
return false;
|
||||
}
|
||||
} else if ( get_direction() == SG_IO_IN ) {
|
||||
if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
|
||||
parse_message();
|
||||
} else {
|
||||
SG_LOG( SG_IO, SG_WARN, "Error reading data." );
|
||||
return false;
|
||||
}
|
||||
if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
|
||||
parse_message();
|
||||
} else {
|
||||
SG_LOG( SG_IO, SG_WARN, "Error reading data." );
|
||||
return false;
|
||||
}
|
||||
if ( get_direction() == SG_IO_OUT )
|
||||
{
|
||||
// process output
|
||||
gen_message();
|
||||
if ((!mNmeaSentence.empty())&&
|
||||
(!io->write( mNmeaSentence.c_str(), mNmeaSentence.length() )))
|
||||
{
|
||||
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
|
||||
}
|
||||
mNmeaSentence = "";
|
||||
}
|
||||
else
|
||||
if ( get_direction() == SG_IO_IN )
|
||||
{
|
||||
// process input lines (up to two lines per cycle)
|
||||
for (int i=0;i<2;i++)
|
||||
{
|
||||
if ( (mLength = io->readline( mBuf, FG_MAX_MSG_SIZE )) > 0 ) {
|
||||
parse_line();
|
||||
} else {
|
||||
printf("Error reading data!\n");
|
||||
SG_LOG( SG_IO, SG_WARN, "Error reading data." );
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
return true; // return value is unused
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -540,9 +419,5 @@ bool FGNMEA::close() {
|
|||
|
||||
set_enabled( false );
|
||||
|
||||
if ( ! io->close() ) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
return io->close();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
// nmea.hxx -- NMEA protocal class
|
||||
// nmea.hxx -- NMEA protocol class
|
||||
//
|
||||
// Written by Curtis Olson, started November 1999.
|
||||
//
|
||||
|
|
@ -24,7 +24,6 @@
|
|||
#ifndef _FG_NMEA_HXX
|
||||
#define _FG_NMEA_HXX
|
||||
|
||||
|
||||
#include <simgear/compiler.h>
|
||||
|
||||
#include <string>
|
||||
|
|
@ -33,30 +32,49 @@
|
|||
|
||||
class FlightProperties;
|
||||
|
||||
namespace NMEA
|
||||
{
|
||||
// supported NMEA messages
|
||||
const unsigned int GPRMC = (1<<0);
|
||||
const unsigned int GPGGA = (1<<1);
|
||||
const unsigned int GPGSA = (1<<2);
|
||||
|
||||
const unsigned int SET = (GPRMC|GPGGA|GPGSA);
|
||||
}
|
||||
|
||||
class FGNMEA : public FGProtocol {
|
||||
|
||||
char buf[ FG_MAX_MSG_SIZE ];
|
||||
int length;
|
||||
FlightProperties* fdm;
|
||||
protected:
|
||||
char mBuf[FG_MAX_MSG_SIZE];
|
||||
unsigned int mLength;
|
||||
unsigned int mNmeaMessages;
|
||||
FlightProperties mFdm;
|
||||
const char* mLineFeed;
|
||||
string mNmeaSentence;
|
||||
|
||||
void add_with_checksum(char *sentence, unsigned int buf_size);
|
||||
|
||||
// process a single NMEA line
|
||||
void parse_line();
|
||||
|
||||
// generate output message(s)
|
||||
virtual bool gen_message();
|
||||
|
||||
// process a single NMEA sentence
|
||||
virtual void parse_message(const std::vector<std::string>& tokens);
|
||||
|
||||
public:
|
||||
|
||||
FGNMEA();
|
||||
~FGNMEA();
|
||||
|
||||
bool gen_message();
|
||||
bool parse_message();
|
||||
FGNMEA();
|
||||
~FGNMEA();
|
||||
|
||||
// open hailing frequencies
|
||||
bool open();
|
||||
virtual bool open();
|
||||
|
||||
// process work for this port
|
||||
bool process();
|
||||
virtual bool process();
|
||||
|
||||
// close the channel
|
||||
bool close();
|
||||
virtual bool close();
|
||||
};
|
||||
|
||||
|
||||
#endif // _FG_NMEA_HXX
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue