Add a variant of the ARNAV (AV400) protocol to drive a Garmin 400/430/530

series GPS from FlightGear.

src/Main/fg_io.cxx

@@ -44,6 +44,7 @@
 #include <Network/ATC-Main.hxx>
 #include <Network/atlas.hxx>
 #include <Network/AV400.hxx>
+#include <Network/AV400Sim.hxx>
 #include <Network/garmin.hxx>
 #include <Network/httpd.hxx>
 #ifdef FG_JPEG_SERVER
@@ -136,6 +137,9 @@ FGIO::parse_port_config( const string& config )
 	} else if ( protocol == "AV400" ) {
 	    FGAV400 *av400 = new FGAV400;
 	    io = av400;
+	} else if ( protocol == "AV400Sim" ) {
+	    FGAV400Sim *av400sim = new FGAV400Sim;
+	    io = av400sim;
 	} else if ( protocol == "garmin" ) {
 	    FGGarmin *garmin = new FGGarmin;
 	    io = garmin;

src/Main/options.cxx

@@ -503,7 +503,7 @@ parse_fov( const string& arg ) {
 //
 // Format is "--protocol=medium,direction,hz,medium_options,..."
 //
-//   protocol = { native, nmea, garmin, AV400, fgfs, rul, pve, etc. }
+//   protocol = { native, nmea, garmin, AV400, AV400Sim, fgfs, rul, pve, etc. }
 //   medium = { serial, socket, file, etc. }
 //   direction = { in, out, bi }
 //   hz = number of times to process channel per second (floating
@@ -1376,6 +1376,7 @@ struct OptionDesc {
     {"native-gui",                   true,  OPTION_CHANNEL, "", false, "", 0 },
     {"opengc",                       true,  OPTION_CHANNEL, "", false, "", 0 },
     {"AV400",                        true,  OPTION_CHANNEL, "", false, "", 0 },
+    {"AV400Sim",                     true,  OPTION_CHANNEL, "", false, "", 0 },
     {"garmin",                       true,  OPTION_CHANNEL, "", false, "", 0 },
     {"nmea",                         true,  OPTION_CHANNEL, "", false, "", 0 },
     {"generic",                      true,  OPTION_CHANNEL, "", false, "", 0 },

src/Network/AV400Sim.cxx

@@ -0,0 +1,445 @@
+// AV400Sim.cxx -- Garmin 400 series protocal class.  This AV400Sim
+// protocol generates the set of "simulator" commands a garmin 400
+// series gps would expect as input in simulator mode.  The AV400
+// protocol generates the set of commands that a garmin 400 series gps
+// would emit.
+//
+// Written by Curtis Olson, started Janauary 2009.
+//
+// Copyright (C) 2009  Curtis L. Olson - http://www.flightgear.org/~curt
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+// $Id$
+
+
+#ifdef HAVE_CONFIG_H
+#  include "config.h"
+#endif
+
+#include <simgear/debug/logstream.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/io/iochannel.hxx>
+#include <simgear/timing/sg_time.hxx>
+
+#include <FDM/flight.hxx>
+#include <Main/fg_props.hxx>
+#include <Main/globals.hxx>
+
+#include "AV400Sim.hxx"
+
+FGAV400Sim::FGAV400Sim() {
+}
+
+FGAV400Sim::~FGAV400Sim() {
+}
+
+
+// generate AV400Sim message
+bool FGAV400Sim::gen_message() {
+    // cout << "generating garmin message" << endl;
+
+    char msg_a[32], msg_b[32], msg_c[32], msg_d[32], msg_e[32];
+    char msg_f[32], msg_i[32], msg_j[32], msg_k[32], msg_l[32], msg_r[32];
+    char msg_type2[256];
+
+    char dir;
+    int deg;
+    double min;
+
+    // create msg_a
+    double latd = cur_fdm_state->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 * 100.0;
+    sprintf( msg_a, "a%c %03d %04.0f\r\n", dir, deg, min);
+
+    // create msg_b
+    double lond = cur_fdm_state->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 * 100.0;
+    sprintf( msg_b, "b%c %03d %04.0f\r\n", dir, deg, min);
+
+    // create msg_c
+    double alt = cur_fdm_state->get_Altitude();
+    if ( alt > 99999.0 ) { alt = 99999.0; }
+    sprintf( msg_c, "c%05.0f\r\n", alt );
+
+    // create msg_d
+    double ve_kts = fgGetDouble( "/velocities/speed-east-fps" ) * SG_FPS_TO_KT;
+    if ( ve_kts < 0.0 ) {
+	ve_kts = -ve_kts;
+	dir = 'W';
+    } else {
+	dir = 'E';
+    }
+    if ( ve_kts > 999.0 ) { ve_kts = 999.0; }
+    sprintf( msg_d, "d%c%03.0f\r\n", dir, ve_kts );
+
+    // create msg_e
+    double vn_kts = fgGetDouble( "/velocities/speed-north-fps" ) * SG_FPS_TO_KT;
+    if ( vn_kts < 0.0 ) {
+	vn_kts = -vn_kts;
+	dir = 'S';
+    } else {
+	dir = 'N';
+    }
+    if ( vn_kts > 999.0 ) { vn_kts = 999.0; }
+    sprintf( msg_e, "e%c%03.0f\r\n", dir, vn_kts );
+
+    // create msg_f
+    double climb_fpm = fgGetDouble( "/velocities/vertical-speed-fps" ) * 60;
+    if ( climb_fpm < 0.0 ) {
+	climb_fpm = -climb_fpm;
+	dir = 'D';
+    } else {
+	dir = 'U';
+    }
+    if ( climb_fpm > 9999.0 ) { climb_fpm = 9999.0; }
+    sprintf( msg_f, "f%c%04.0f\r\n", dir, climb_fpm );
+
+    // create msg_i
+    double fuel = fgGetDouble( "/consumables/fuel/total-fuel-gals" );
+    if ( fuel > 999.9 ) { fuel = 999.9; }
+    sprintf( msg_i, "i%04.0f\r\n", fuel*10.0 );
+
+    // create msg_j
+    double gph = fgGetDouble( "/engines/engine[0]/fuel-flow-gph" );
+    gph += fgGetDouble( "/engines/engine[1]/fuel-flow-gph" );
+    gph += fgGetDouble( "/engines/engine[2]/fuel-flow-gph" );
+    gph += fgGetDouble( "/engines/engine[3]/fuel-flow-gph" );
+    if ( gph > 999.9 ) { gph = 999.9; }
+    sprintf( msg_j, "j%04.0f\r\n", gph*10.0 );
+
+    // create msg_k
+    sprintf( msg_k, "k%04d%02d%02d%02d%02d%02d\r\n",
+	     fgGetInt( "/sim/time/utc/year"),
+	     fgGetInt( "/sim/time/utc/month"),
+	     fgGetInt( "/sim/time/utc/day"),
+	     fgGetInt( "/sim/time/utc/hour"),
+	     fgGetInt( "/sim/time/utc/minute"),
+	     fgGetInt( "/sim/time/utc/second") );
+
+    // create msg_l
+    alt = fgGetDouble( "/instrumentation/pressure-alt-ft" );
+    if ( alt > 99999.0 ) { alt = 99999.0; }
+    sprintf( msg_l, "l%05.0f\r\n", alt );
+
+    // create msg_r
+    sprintf( msg_r, "rA\r\n" );
+
+    // sentence type 2
+    sprintf( msg_type2, "w01%c\r\n", (char)65 );
+
+    // assemble message
+    string sentence;
+    sentence += '\002';         // STX
+    sentence += msg_a;          // latitude
+    sentence += msg_b;          // longitude
+    sentence += msg_c;          // gps altitude
+    sentence += msg_d;          // ve kts
+    sentence += msg_e;          // vn kts
+    sentence += msg_f;		// climb fpm
+    sentence += msg_i;		// total fuel in gal (*10)
+    sentence += msg_j;		// fuel flow gph (*10)
+    sentence += msg_k;		// date/time (UTC)
+    sentence += msg_l;		// pressure altitude
+    sentence += msg_r;		// RAIM available
+    sentence += msg_type2;      // type2 message
+    sentence += '\003';         // ETX
+
+    // cout << sentence;
+    length = sentence.length();
+    // cout << endl << "length = " << length << endl;
+    strncpy( buf, sentence.c_str(), length );
+
+    return true;
+}
+
+
+// parse AV400Sim message
+bool FGAV400Sim::parse_message() {
+    SG_LOG( SG_IO, SG_INFO, "parse garmin message" );
+
+    string msg = buf;
+    msg = msg.substr( 0, length );
+    SG_LOG( SG_IO, SG_INFO, "entire message = " << msg );
+
+    string::size_type begin_line, end_line, begin, end;
+    begin_line = begin = 0;
+
+    // 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;
+	    }
+
+	    cur_fdm_state->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;
+	    }
+
+	    cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
+	    SG_LOG( SG_IO, SG_INFO, "  lon = " << lon );
+
+#if 0
+	    double sl_radius, lat_geoc;
+	    sgGeodToGeoc( cur_fdm_state->get_Latitude(), 
+			  cur_fdm_state->get_Altitude(), 
+			  &sl_radius, &lat_geoc );
+	    cur_fdm_state->set_Geocentric_Position( lat_geoc, 
+			   cur_fdm_state->get_Longitude(), 
+	     	           sl_radius + cur_fdm_state->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() );
+	    cur_fdm_state->set_V_calibrated_kts( speed );
+	    // cur_fdm_state->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() );
+	    cur_fdm_state->set_Euler_Angles( cur_fdm_state->get_Phi(), 
+					     cur_fdm_state->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;
+	    }
+
+	    cur_fdm_state->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);
+    }
+
+    return true;
+}
+
+
+// open hailing frequencies
+bool FGAV400Sim::open() {
+    if ( is_enabled() ) {
+	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;
+    }
+
+    set_enabled( true );
+
+    return true;
+}
+
+
+// process work for this port
+bool FGAV400Sim::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 FGAV400Sim::close() {
+    SGIOChannel *io = get_io_channel();
+
+    set_enabled( false );
+
+    if ( ! io->close() ) {
+	return false;
+    }
+
+    return true;
+}

src/Network/AV400Sim.hxx

@@ -0,0 +1,65 @@
+// AV400Sim.hxx -- Garmin 400 series protocal class.  This AV400Sim
+// protocol generates the set of "simulator" commands a garmin 400
+// series gps would expect as input in simulator mode.  The AV400
+// protocol generates the set of commands that a garmin 400 series gps
+// would emit.
+//
+// Written by Curtis Olson, started Januar 2009.
+//
+// Copyright (C) 2009  Curtis L. Olson - http://www.flightgear.org/~curt
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+// $Id$
+
+
+#ifndef _FG_AV400SIM_HXX
+#define _FG_AV400SIM_HXX
+
+
+#include <simgear/compiler.h>
+
+#include <string>
+
+#include "protocol.hxx"
+
+using std::string;
+
+
+class FGAV400Sim : public FGProtocol {
+
+    char buf[ FG_MAX_MSG_SIZE ];
+    int length;
+
+public:
+
+    FGAV400Sim();
+    ~FGAV400Sim();
+
+    bool gen_message();
+    bool parse_message();
+ 
+    // open hailing frequencies
+    bool open();
+
+    // process work for this port
+    bool process();
+
+    // close the channel
+    bool close();
+};
+
+
+#endif // _FG_AV400SIM_HXX

src/Network/Makefile.am

@@ -18,6 +18,7 @@ libNetwork_a_SOURCES = \
 	ATC-Outputs.cxx ATC-Outputs.hxx \
 	atlas.cxx atlas.hxx \
 	AV400.cxx AV400.hxx \
+	AV400Sim.cxx AV400Sim.hxx \
 	garmin.cxx garmin.hxx \
 	lfsglass.cxx lfsglass.hxx lfsglass_data.hxx \
         httpd.cxx httpd.hxx \