// 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 <cstring>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/io/iochannel.hxx>
#include <simgear/timing/sg_time.hxx>
#include <FDM/flightProperties.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include "AV400Sim.hxx"
FGAV400Sim::FGAV400Sim() {
fdm = new FlightProperties;
}
FGAV400Sim::~FGAV400Sim() {
delete fdm;
}
// 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_h[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 = fdm->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 = fdm->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 = fdm->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_h
double obs = fgGetDouble( "/instrumentation/nav[0]/radials/selected-deg" );
sprintf( msg_h, "h%04d\r\n", (int)(obs*10) );
// 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_h; // obs heading in deg (*10)
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 AV400Sim message" );
string msg = buf;
msg = msg.substr( 0, length );
SG_LOG( SG_IO, SG_INFO, "entire message = " << msg );
string ident = msg.substr(0, 1);
if ( ident == "i" ) {
string side = msg.substr(1,1);
string num = msg.substr(2,3);
if ( side == "-" ) {
fgSetDouble("/instrumentation/gps/cdi-deflection", 0.0);
} else {
int pos = atoi(num.c_str());
if ( side == "L" ) {
pos *= -1;
}
fgSetDouble("/instrumentation/gps/cdi-deflection",
(double)pos / 8.0);
fgSetBool("/instrumentation/gps/has-gs", false);
}
} else if ( ident == "k" ) {
string ind = msg.substr(1,1);
if ( ind == "T" ) {
fgSetBool("/instrumentation/gps/to-flag", true);
fgSetBool("/instrumentation/gps/from-flag", false);
} else if ( ind == "F" ) {
fgSetBool("/instrumentation/gps/to-flag", false);
fgSetBool("/instrumentation/gps/from-flag", true);
} else {
fgSetBool("/instrumentation/gps/to-flag", false);
fgSetBool("/instrumentation/gps/from-flag", false);
}
} else {
// SG_LOG( SG_IO, SG_ALERT, "unknown AV400Sim message = " << msg );
}
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();
// until we have parsers/generators for the reverse direction,
// this is hardwired to expect that the physical GPS is slaving
// from FlightGear.
// Send FlightGear data to the external device
gen_message();
if ( ! io->write( buf, length ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
return false;
}
// read the device messages back
while ( (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." );
}
}
return true;
}
// close the channel
bool FGAV400Sim::close() {
SGIOChannel *io = get_io_channel();
set_enabled( false );
if ( ! io->close() ) {
return false;
}
return true;
}