577 lines
14 KiB
C++
577 lines
14 KiB
C++
// atlas.cxx -- Atlas protocal class
|
|
//
|
|
// Written by Curtis Olson, started November 1999.
|
|
//
|
|
// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
|
|
//
|
|
// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
|
|
//
|
|
// $Id$
|
|
|
|
|
|
#include <simgear/debug/logstream.hxx>
|
|
#include <simgear/math/sg_geodesy.hxx>
|
|
#include <simgear/io/iochannel.hxx>
|
|
|
|
#include <Cockpit/radiostack.hxx>
|
|
#include <FDM/flight.hxx>
|
|
#include <Main/globals.hxx>
|
|
|
|
#include "atlas.hxx"
|
|
|
|
|
|
FGAtlas::FGAtlas() {
|
|
}
|
|
|
|
FGAtlas::~FGAtlas() {
|
|
}
|
|
|
|
|
|
// calculate the atlas check sum
|
|
static char calc_atlas_cksum(char *sentence) {
|
|
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];
|
|
sum ^= sentence[i];
|
|
}
|
|
// cout << endl;
|
|
|
|
// printf("sum = %02x\n", sum);
|
|
return sum;
|
|
}
|
|
|
|
|
|
// generate Atlas message
|
|
bool FGAtlas::gen_message() {
|
|
// cout << "generating atlas message" << endl;
|
|
|
|
char rmc[256], gga[256], patla[256];
|
|
char rmc_sum[10], gga_sum[10], patla_sum[10];
|
|
char dir;
|
|
int deg;
|
|
double min;
|
|
|
|
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 );
|
|
|
|
char lat[20];
|
|
double latd = cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
|
|
if ( latd < 0.0 ) {
|
|
latd *= -1.0;
|
|
dir = 'S';
|
|
} else {
|
|
dir = 'N';
|
|
}
|
|
deg = (int)(latd);
|
|
min = (latd - (double)deg) * 60.0;
|
|
sprintf( lat, "%02d%06.3f,%c", abs(deg), min, dir);
|
|
|
|
char lon[20];
|
|
double lond = cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
|
|
if ( lond < 0.0 ) {
|
|
lond *= -1.0;
|
|
dir = 'W';
|
|
} else {
|
|
dir = 'E';
|
|
}
|
|
deg = (int)(lond);
|
|
min = (lond - (double)deg) * 60.0;
|
|
sprintf( lon, "%03d%06.3f,%c", abs(deg), min, dir);
|
|
|
|
char speed[10];
|
|
sprintf( speed, "%05.1f", cur_fdm_state->get_V_equiv_kts() );
|
|
|
|
char heading[10];
|
|
sprintf( heading, "%05.1f", cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES );
|
|
|
|
char altitude_m[10];
|
|
sprintf( altitude_m, "%02d",
|
|
(int)(cur_fdm_state->get_Altitude() * SG_FEET_TO_METER) );
|
|
|
|
char altitude_ft[10];
|
|
sprintf( altitude_ft, "%02d", (int)cur_fdm_state->get_Altitude() );
|
|
|
|
char date[10];
|
|
sprintf( date, "%02d%02d%02d", t->getGmt()->tm_mday,
|
|
t->getGmt()->tm_mon+1, t->getGmt()->tm_year );
|
|
|
|
// $GPRMC,HHMMSS,A,DDMM.MMM,N,DDDMM.MMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E*XX
|
|
sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,0.000,E",
|
|
utc, lat, lon, speed, heading, date );
|
|
sprintf( rmc_sum, "%02X", calc_atlas_cksum(rmc) );
|
|
|
|
sprintf( gga, "GPGGA,%s,%s,%s,1,,,%s,F,,,,",
|
|
utc, lat, lon, altitude_ft );
|
|
sprintf( gga_sum, "%02X", calc_atlas_cksum(gga) );
|
|
|
|
sprintf( patla, "PATLA,%.2f,%.1f,%.2f,%.1f,%.0f",
|
|
current_radiostack->get_nav1_freq(),
|
|
current_radiostack->get_nav1_sel_radial(),
|
|
current_radiostack->get_nav2_freq(),
|
|
current_radiostack->get_nav2_sel_radial(),
|
|
current_radiostack->get_adf_freq() );
|
|
sprintf( patla_sum, "%02X", calc_atlas_cksum(patla) );
|
|
|
|
SG_LOG( SG_IO, SG_DEBUG, rmc );
|
|
SG_LOG( SG_IO, SG_DEBUG, gga );
|
|
SG_LOG( SG_IO, SG_DEBUG, patla );
|
|
|
|
string atlas_sentence;
|
|
|
|
// RMC sentence
|
|
atlas_sentence = "$";
|
|
atlas_sentence += rmc;
|
|
atlas_sentence += "*";
|
|
atlas_sentence += rmc_sum;
|
|
atlas_sentence += "\n";
|
|
|
|
// GGA sentence
|
|
atlas_sentence += "$";
|
|
atlas_sentence += gga;
|
|
atlas_sentence += "*";
|
|
atlas_sentence += gga_sum;
|
|
atlas_sentence += "\n";
|
|
|
|
// PATLA sentence
|
|
atlas_sentence += "$";
|
|
atlas_sentence += patla;
|
|
atlas_sentence += "*";
|
|
atlas_sentence += patla_sum;
|
|
atlas_sentence += "\n";
|
|
|
|
cout << atlas_sentence;
|
|
|
|
length = atlas_sentence.length();
|
|
strncpy( buf, atlas_sentence.c_str(), length );
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
// parse Atlas 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 FGAtlas::parse_message() {
|
|
SG_LOG( SG_IO, SG_INFO, "parse atlas 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 == "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;
|
|
}
|
|
|
|
// 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 );
|
|
|
|
// 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 != (string)"F" ) {
|
|
altitude *= SG_METER_TO_FEET;
|
|
}
|
|
|
|
cur_fdm_state->set_Altitude( altitude );
|
|
|
|
SG_LOG( SG_IO, SG_INFO, " altitude = " << altitude );
|
|
|
|
} else if ( sentence == "PATLA" ) {
|
|
// nav1 freq
|
|
end = msg.find(",", begin);
|
|
if ( end == string::npos ) {
|
|
return false;
|
|
}
|
|
|
|
string nav1_freq = msg.substr(begin, end - begin);
|
|
begin = end + 1;
|
|
SG_LOG( SG_IO, SG_INFO, " nav1_freq = " << nav1_freq );
|
|
|
|
// nav1 selected radial
|
|
end = msg.find(",", begin);
|
|
if ( end == string::npos ) {
|
|
return false;
|
|
}
|
|
|
|
string nav1_rad = msg.substr(begin, end - begin);
|
|
begin = end + 1;
|
|
SG_LOG( SG_IO, SG_INFO, " nav1_rad = " << nav1_rad );
|
|
|
|
// nav2 freq
|
|
end = msg.find(",", begin);
|
|
if ( end == string::npos ) {
|
|
return false;
|
|
}
|
|
|
|
string nav2_freq = msg.substr(begin, end - begin);
|
|
begin = end + 1;
|
|
SG_LOG( SG_IO, SG_INFO, " nav2_freq = " << nav2_freq );
|
|
|
|
// nav2 selected radial
|
|
end = msg.find(",", begin);
|
|
if ( end == string::npos ) {
|
|
return false;
|
|
}
|
|
|
|
string nav2_rad = msg.substr(begin, end - begin);
|
|
begin = end + 1;
|
|
SG_LOG( SG_IO, SG_INFO, " nav2_rad = " << nav2_rad );
|
|
|
|
// adf freq
|
|
end = msg.find("*", begin);
|
|
if ( end == string::npos ) {
|
|
return false;
|
|
}
|
|
|
|
string adf_freq = msg.substr(begin, end - begin);
|
|
begin = end + 1;
|
|
SG_LOG( SG_IO, SG_INFO, " adf_freq = " << adf_freq );
|
|
}
|
|
|
|
// printf("%.8f %.8f\n", lon, lat);
|
|
|
|
begin = begin_line;
|
|
end_line = msg.find("\n", begin_line);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
// open hailing frequencies
|
|
bool FGAtlas::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 FGAtlas::process() {
|
|
SGIOChannel *io = get_io_channel();
|
|
|
|
if ( get_direction() == SG_IO_OUT ) {
|
|
gen_message();
|
|
if ( ! io->write( buf, length ) ) {
|
|
SG_LOG( SG_IO, SG_ALERT, "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_ALERT, "Error reading data." );
|
|
return false;
|
|
}
|
|
if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
|
|
parse_message();
|
|
} else {
|
|
SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
// close the channel
|
|
bool FGAtlas::close() {
|
|
SGIOChannel *io = get_io_channel();
|
|
|
|
set_enabled( false );
|
|
|
|
if ( ! io->close() ) {
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|