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flightgear/src/Network/AV400WSim.cxx
James Turner 5d9faee463 More unused vars caught by Xcode.
2013-07-04 20:56:04 +01:00

1049 lines
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// AV400WSim.cxx -- Garmin 400 series protocal class. This AV400WSim
// protocol generates the set of "simulator" commands a garmin 400 WAAS
// series gps would expect as input in simulator mode. The AV400W
// protocol parses the set of commands that a garmin 400W series gps
// would emit.
//
// The Garmin WAAS GPS uses 2 serial channels to communicate with the
// simulator. These 2 channels are represented by the FGAV400WSimA and
// the FGAV400WSimB classes. The "A" channel is similar to the previous
// AVSim400 protocol. The "B" channel is considered the "GPS" channel and
// uses a different protocol than the "A" channel. The GPS unit expects
// input on the "B" channel at two different frequencies (1hz and 5hz,
// normally). The "B" channel also expects responses to certain output
// messages.
//
// Original AV400Sim code Written by Curtis Olson, started Janauary 2009.
// This AV400W code written by Bruce Hellstrom, March 2011.
//
// Copyright (C) 2009 Curtis L. Olson - http://www.flightgear.org/~curt
// Copyright (c) 2011 Bruce Hellstrom - http://www.celebritycc.com
//
// 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 <cstdio>
#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 "AV400WSim.hxx"
FGAV400WSimA::FGAV400WSimA() {
}
FGAV400WSimA::~FGAV400WSimA() {
}
// generate AV400WSimA message
bool FGAV400WSimA::gen_message() {
// cout << "generating garmin message" << endl;
char msg_h[32], msg_i[32], msg_j[32], msg_k[32], msg_l[32];
//char msg_type2[256];
double alt;
// 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 );
// sentence type 2
//sprintf( msg_type2, "w01%c\r\n", (char)65 );
// assemble message
string sentence;
sentence += '\002'; // STX
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_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 AV400SimA message
bool FGAV400WSimA::parse_message() {
SG_LOG( SG_IO, SG_INFO, "parse AV400WSimA 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/av400w/cdi-deflection", 0.0);
}
else {
int pos = atoi(num.c_str());
if ( side == "L" ) {
pos *= -1;
}
fgSetDouble("/instrumentation/av400w/cdi-deflection",
(double)pos / 10.0);
//printf( "i, %s%s, %f\n", side.c_str(), num.c_str(), (double)(pos / 10.0) );
}
}
else if ( ident == "j" ) {
string side = msg.substr(1,1);
string num = msg.substr(2,3);
if ( side == "-" ) {
fgSetDouble("/instrumentation/av400w/gs-deflection", 0.0);
}
else {
int pos = atoi(num.c_str());
if ( side == "B" ) {
pos *= -1;
}
// convert glideslope to -3.5 to 3.5
fgSetDouble("/instrumentation/av400w/gs-deflection",
(double)pos / 28.57);
//printf( "j, %s%s, %f\n", side.c_str(), num.c_str(), (double)(pos / 28.57) );
}
}
else if ( ident == "k" ) {
string ind = msg.substr(1,1);
if ( ind == "T" ) {
fgSetBool("/instrumentation/av400w/to-flag", true);
fgSetBool("/instrumentation/av400w/from-flag", false);
//printf( "set to-flag\n" );
} else if ( ind == "F" ) {
fgSetBool("/instrumentation/av400w/to-flag", false);
fgSetBool("/instrumentation/av400w/from-flag", true);
//printf( "set from flag\n" );
} else {
fgSetBool("/instrumentation/av400w/to-flag", false);
fgSetBool("/instrumentation/av400w/from-flag", false);
//printf( "set t/f both false\n" );
}
//printf( "k, %s\n", ind.c_str() );
}
else if ( ident == "S" ) {
string ind = msg.substr(1,5);
//printf( "S - %s\n", ind.c_str() );
}
else {
// SG_LOG( SG_IO, SG_ALERT, "unknown AV400Sim message = " << msg );
}
return true;
}
// open hailing frequencies
bool FGAV400WSimA::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 FGAV400WSimA::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 FGAV400WSimA::close() {
SGIOChannel *io = get_io_channel();
set_enabled( false );
if ( ! io->close() ) {
return false;
}
return true;
}
// Start of FGAV400WSimB class methods
FGAV400WSimB::FGAV400WSimB() :
hz2(0.0),
hz2count(0),
hz2cycles(0),
flight_phase(0xFF),
req_hostid(true),
req_sbas(false)
{
hal.clear();
val.clear();
hal.append( "\0\0", 2 );
val.append( "\0\0", 2 );
outputctr = 0;
sbas_sel.append( "\0\x01", 2 );
fdm = new FlightProperties;
}
FGAV400WSimB::~FGAV400WSimB() {
delete fdm;
}
bool FGAV400WSimB::gen_hostid_message() {
char chksum = 0;
string data = "Cj\r\n";
data += "COPYRIGHT 2008 GARMIN LTD. \r\n";
data += "SFTW P/N # 006-B0339-0A\r\n";
data += "SOFTWARE VER # 3\r\n";
data += "SOFTWARE REV # 2\r\n";
data += "SOFTWARE DATE 11/03/2008\r\n";
data += "SW CRC 8F5E7DD1 AE5D4563\r\n";
data += "HDWR P/N # 012-00857-01 \r\n";
data += "SERIAL # 085701214976140\r\n";
data += "MANUFACTUR DATE 02/26/2007\r\n";
data += "OPTIONS LIST iiiiiiiiii";
// calculate the checksum
for ( string::const_iterator cli = data.begin(); cli != data.end(); cli++ ) {
chksum ^= *cli;
}
string sentence( "@@" );
sentence += data;
sentence.push_back( chksum );
sentence += "\x0D\n";
length = sentence.length();
char *bufptr = buf;
for ( string::const_iterator cli = sentence.begin(); cli != sentence.end(); cli++ ) {
*bufptr++ = *cli;
}
return true;
}
bool FGAV400WSimB::gen_sbas_message() {
char chksum = 0;
string data = "WA";
data.push_back( '\0' );
data += sbas_sel;
// calculate the checksum
for ( string::const_iterator cli = data.begin(); cli != data.end(); cli++ ) {
chksum ^= *cli;
}
string sentence( "@@" );
sentence += data;
sentence.push_back( chksum );
sentence += "\x0D\n";
length = sentence.length();
char *bufptr = buf;
for ( string::const_iterator cli = sentence.begin(); cli != sentence.end(); cli++ ) {
*bufptr++ = *cli;
}
return true;
}
// Wh - Visible SBAS Satellites (hz2)
bool FGAV400WSimB::gen_Wh_message() {
char chksum = 0;
// generate the Wh message
string data = "Wh";
data.push_back( '\x0F' );
data.append( "\x3f\x00\x00\x20\x00\x20", 6 );
data.append( "\x4f\x00\x00\x28\x00\x30", 6 );
data.append( "\x2d\x00\x00\x48\x01\x05", 6 );
data.append( "\x1d\x00\x00\x10\x01\x10", 6 );
data.append( "\x50\x00\x00\x33\x00\x50", 6 );
data.append( "\x22\x00\x00\x16\x00\x90", 6 );
data.append( "\x40\x00\x00\x20\x00\x20", 6 );
data.append( "\x50\x00\x00\x28\x00\x30", 6 );
data.append( "\x2e\x00\x00\x48\x01\x05", 6 );
data.append( "\x1e\x00\x00\x10\x01\x10", 6 );
data.append( "\x51\x00\x00\x33\x00\x50", 6 );
data.append( "\x23\x00\x00\x16\x00\x90", 6 );
data.append( "\x1f\x00\x00\x10\x01\x10", 6 );
data.append( "\x52\x00\x00\x33\x00\x50", 6 );
data.append( "\x24\x00\x00\x16\x00\x90", 6 );
data.push_back( '0' );
// calculate the checksum
for ( string::const_iterator cli = data.begin(); cli != data.end(); cli++ ) {
chksum ^= *cli;
}
string sentence( "@@" );
sentence += data;
sentence.push_back( chksum );
sentence += "\x0D\n";
length = sentence.length();
char *bufptr = buf;
for ( string::const_iterator cli = sentence.begin(); cli != sentence.end(); cli++ ) {
*bufptr++ = *cli;
}
return true;
}
// Wx - Channel Status Message (hz2)
bool FGAV400WSimB::gen_Wx_message() {
char chksum = 0;
// Now process the Wx message
string data = "Wx";
data.push_back( (char)( fgGetInt( "/sim/time/utc/month") & 0xFF ) );
data.push_back( (char)( fgGetInt( "/sim/time/utc/day") & 0xFF ) );
data.push_back( (char)( (fgGetInt( "/sim/time/utc/year") >> 8 ) & 0xFF ) );
data.push_back( (char)( fgGetInt( "/sim/time/utc/year") & 0xFF ) );
data.push_back( (char)( fgGetInt( "/sim/time/utc/hour") & 0xFF ) );
data.push_back( (char)( fgGetInt( "/sim/time/utc/minute") & 0xFF ) );
data.push_back( (char)( fgGetInt( "/sim/time/utc/second") & 0xFF ) );
data.append( "\x00\x00\x00\x00", 4 );
for ( int xctr = 0; xctr < 15; xctr++ ) {
data.append( "\x00\x00\x00\x00\x00\x00\x00\x00", 8 );
}
data.push_back( '\0' );
// calculate the checksum
for ( string::const_iterator cli = data.begin(); cli != data.end(); cli++ ) {
chksum ^= *cli;
}
string sentence( "@@" );
sentence += data;
sentence.push_back( chksum );
sentence += "\x0D\n";
// cout << sentence;
length = sentence.length();
char *bufptr = buf;
for ( string::const_iterator cli = sentence.begin(); cli != sentence.end(); cli++ ) {
*bufptr++ = *cli;
}
return true;
}
// Wt - Position and Navigation status
bool FGAV400WSimB::gen_Wt_message() {
char chksum = 0;
// generate the Wt message
string data = "Wt";
data.push_back( (char)( fgGetInt( "/sim/time/utc/month") & 0xFF ) );
data.push_back( (char)( fgGetInt( "/sim/time/utc/day") & 0xFF ) );
data.push_back( (char)( (fgGetInt( "/sim/time/utc/year") >> 8 ) & 0xFF ) );
data.push_back( (char)( fgGetInt( "/sim/time/utc/year") & 0xFF ) );
data.push_back( (char)( fgGetInt( "/sim/time/utc/hour") & 0xFF ) );
data.push_back( (char)( fgGetInt( "/sim/time/utc/minute") & 0xFF ) );
data.push_back( (char)( fgGetInt( "/sim/time/utc/second") & 0xFF ) );
data.append( "\x00\x00\x00\x00", 4 );
// get latitude in milliarcseconds
double latd = fdm->get_Latitude() * SGD_RADIANS_TO_DEGREES;
latd *= DEG_TO_MILLIARCSECS;
int latitude = (int)latd;
data.push_back( (char)( ( latitude >> 24 ) & 0xFF ) );
data.push_back( (char)( ( latitude >> 16 ) & 0xFF ) );
data.push_back( (char)( ( latitude >> 8 ) & 0xFF ) );
data.push_back( (char)( latitude & 0xFF ) );
// get longitude in milliarcseconds
double lond = fdm->get_Longitude() * SGD_RADIANS_TO_DEGREES;
lond *= DEG_TO_MILLIARCSECS;
int longitude = (int)lond;
data.push_back( (char)( ( longitude >> 24 ) & 0xFF ) );
data.push_back( (char)( ( longitude >> 16 ) & 0xFF ) );
data.push_back( (char)( ( longitude >> 8 ) & 0xFF ) );
data.push_back( (char)( longitude & 0xFF ) );
// Altitude settings
double alt = fdm->get_Altitude();
if ( alt > 99999.0 ) { alt = 99999.0; }
// send the WGS-84 ellipsoid height om /-1, (just use regular altitude)
alt *= SG_FEET_TO_METER;
int altm = (int)( alt * 100.0f );
data.push_back( (char)( ( altm >> 24 ) & 0xFF ) );
data.push_back( (char)( ( altm >> 16 ) & 0xFF ) );
data.push_back( (char)( ( altm >> 8 ) & 0xFF ) );
data.push_back( (char)( altm & 0xFF ) );
// put in the geoid height in 0.1 meters
data.push_back( (char)( ( altm >> 24 ) & 0xFF ) );
data.push_back( (char)( ( altm >> 16 ) & 0xFF ) );
data.push_back( (char)( ( altm >> 8 ) & 0xFF ) );
data.push_back( (char)( altm & 0xFF ) );
// get ground speed
double gskt = fgGetDouble( "/velocities/groundspeed-kt" );
gskt *= SG_KT_TO_MPS;
int gsm = (int)( gskt * 100.0f );
data.push_back( (char)( ( gsm >> 8 ) & 0xFF ) );
data.push_back( (char)( gsm & 0xFF ) );
// ground track
double trkdeg = fgGetDouble("/orientation/heading-deg");
int hdg = (int)(trkdeg * 10.0f);
data.push_back( (char)( ( hdg >> 8 ) & 0xFF ) );
data.push_back( (char)( hdg & 0xFF ) );
// vertical velocity
double climb_fpm = fgGetDouble( "/velocities/vertical-speed-fps" );
climb_fpm *= SG_FEET_TO_METER;
int vvm = (int)( climb_fpm * 50.0f );
data.push_back( (char)( ( vvm >> 8 ) & 0xFF ) );
data.push_back( (char)( vvm & 0xFF ) );
// navigation solution status
data.push_back( '\0' );
// HFOM/VFOM
data.append( "\0\x09\0\x09", 4 );
// ARINC 748 Mode
data.push_back( '\x0D' );
// Channel Tracking
data += "\x7F\xFF";
// calculate the checksum
for ( string::const_iterator cli = data.begin(); cli != data.end(); cli++ ) {
chksum ^= *cli;
}
string sentence( "@@" );
sentence += data;
sentence.push_back( chksum );
sentence += "\x0D\n";
length = sentence.length();
char *bufptr = buf;
for ( string::const_iterator cli = sentence.begin(); cli != sentence.end(); cli++ ) {
*bufptr++ = *cli;
}
return true;
}
// Wm - Data integrity status
bool FGAV400WSimB::gen_Wm_message() {
char chksum = 0;
// generate the Wt message
string data = "Wm";
// flight phase
data.push_back( flight_phase );
// HAL and VAL
if ( hal.empty() ) {
data.append( "\0\0", 2 );
}
else {
data += hal;
}
if ( val.empty() ) {
data.append( "\0\0", 2 );
}
else {
data += val;
}
// Integrity status
data.append( "\x00\x00\x00", 3 );
data.append( "\x00\x01\x00\x01\x00\x01\x00\x01", 8 );
data.append( "\x00\x0F\x00\x0F\x00\x0F", 6 );
// calculate the checksum
for ( string::const_iterator cli = data.begin(); cli != data.end(); cli++ ) {
chksum ^= *cli;
}
string sentence( "@@" );
sentence += data;
sentence.push_back( chksum );
sentence += "\x0D\n";
length = sentence.length();
char *bufptr = buf;
for ( string::const_iterator cli = sentence.begin(); cli != sentence.end(); cli++ ) {
*bufptr++ = *cli;
}
return true;
}
// Wv - 3d velocity
bool FGAV400WSimB::gen_Wv_message() {
char chksum = 0;
// generate the Wt message
string data = "Wv";
// data is valid
data += "1";
// N velocity in .01 m/s
double vn_mps = fgGetDouble( "/velocities/speed-north-fps" ) * SG_FEET_TO_METER;
int vnm = (int)( vn_mps * 100 );
data.push_back( (char)( ( vnm >> 24 ) & 0xFF ) );
data.push_back( (char)( ( vnm >> 16 ) & 0xFF ) );
data.push_back( (char)( ( vnm >> 8 ) & 0xFF ) );
data.push_back( (char)( vnm & 0xFF ) );
// E velocity in .01 m/s
double ve_mps = fgGetDouble( "/velocities/speed-east-fps" ) * SG_FEET_TO_METER;
int vne = (int)( ve_mps * 100 );
data.push_back( (char)( ( vne >> 24 ) & 0xFF ) );
data.push_back( (char)( ( vne >> 16 ) & 0xFF ) );
data.push_back( (char)( ( vne >> 8 ) & 0xFF ) );
data.push_back( (char)( vne & 0xFF ) );
// Up velocity in .01 m/s
double climb_mps = fgGetDouble( "/velocities/vertical-speed-fps" ) * SG_FEET_TO_METER;
int vnup = (int)( climb_mps * 100 );
data.push_back( (char)( ( vnup >> 24 ) & 0xFF ) );
data.push_back( (char)( ( vnup >> 16 ) & 0xFF ) );
data.push_back( (char)( ( vnup >> 8 ) & 0xFF ) );
data.push_back( (char)( vnup & 0xFF ) );
// calculate the checksum
for ( string::const_iterator cli = data.begin(); cli != data.end(); cli++ ) {
chksum ^= *cli;
}
string sentence( "@@" );
sentence += data;
sentence.push_back( chksum );
sentence += "\x0D\n";
// cout << sentence;
length = sentence.length();
char *bufptr = buf;
for ( string::const_iterator cli = sentence.begin(); cli != sentence.end(); cli++ ) {
*bufptr++ = *cli;
}
return true;
}
bool FGAV400WSimB::verify_checksum( string message, int datachars ) {
bool bRet = false;
string dataseg = message.substr(SOM_SIZE, datachars);
char chksum = 0;
char cs = message[SOM_SIZE + datachars];
for ( string::const_iterator cli = dataseg.begin();
cli != dataseg.end(); cli++ ) {
chksum ^= *cli;
}
if ( chksum == cs ) {
bRet = true;
}
else {
SG_LOG( SG_IO, SG_INFO, "bad input checksum: " << message );
//string msgid = asciitize_message( message );
//printf( "FGAV400SimB::verify_checksum bad input checksum:\n%s\n", msgid.c_str() );
}
return( bRet );
}
string FGAV400WSimB::asciitize_message( string message ) {
string asciimsg;
for ( string::const_iterator cli = message.begin();
cli != message.end(); cli++ )
{
unsigned char uc = static_cast<unsigned char>(*cli);
if ( uc >= 32 && uc <= 127 ) {
asciimsg += *cli;
}
else {
char tempbuf[20];
sprintf( tempbuf, "\\x%02X", uc );
asciimsg += tempbuf;
}
}
return( asciimsg );
}
string FGAV400WSimB::buffer_to_string() {
string message;
char *bufctr = buf;
for ( int xctr = 0; xctr < length; xctr++ ) {
message.push_back( *bufctr++ );
}
return( message );
}
// parse AV400Sim message
bool FGAV400WSimB::parse_message() {
SG_LOG( SG_IO, SG_INFO, "parse AV400WSimB message" );
string msg = buffer_to_string();
string som = msg.substr(0, 2);
if ( som != "@@" ) {
SG_LOG( SG_IO, SG_INFO, "bad start message" );
return false;
}
string ident = msg.substr(2,2);
if ( ident == "AH" ) { // Flight Phase
if ( verify_checksum( msg, 3 ) ) {
flight_phase = msg[4];
//string ascmsg = asciitize_message( msg );
//printf( "%10d received AH %s\n", outputctr, ascmsg.c_str() );
switch( flight_phase ) {
case FGAV400WSimB::PHASE_OCEANIC: // Oceanic
if ( hal.empty() ) {
hal = "\x39\xE0";
}
if ( val.empty() ) {
val = "\x00\x00";
}
fgSetBool( "/instrumentation/av400w/has-gs", false );
break;
case PHASE_ENROUTE: // Enroute
if ( hal.empty() ) {
hal = "\x1C\xF0";
}
if ( val.empty() ) {
val = "\x00\x00";
}
fgSetBool( "/instrumentation/av400w/has-gs", false );
break;
case PHASE_TERM: // Terminal
if ( hal.empty() ) {
hal = "\x0E\x78";
}
if ( val.empty() ) {
val = "\x00\x00";
}
fgSetBool( "/instrumentation/av400w/has-gs", false );
break;
case PHASE_NONPREC: // Non Precision Approach
if ( hal.empty() ) {
hal = "\x04\x57";
}
if ( val.empty() ) {
val = "\x00\x00";
}
fgSetBool( "/instrumentation/av400w/has-gs", false );
break;
case PHASE_LNAVVNAV: // LNAV/VNAV
if ( hal.empty() ) {
hal = "\x04\x57";
}
if ( val.empty() ) {
val = "\x00\x64";
}
fgSetBool( "/instrumentation/av400w/has-gs", true );
break;
case PHASE_LPVLP: // LPV/LP
if ( hal.empty() ) {
hal = "\x00\x00";
}
if ( val.empty() ) {
val = "\x00\x00";
}
fgSetBool( "/instrumentation/av400w/has-gs", true );
break;
default:
if ( hal.empty() ) {
hal = "\x00\x00";
}
if ( val.empty() ) {
val = "\x00\x00";
}
fgSetBool( "/instrumentation/av400w/has-gs", false );
break;
}
//printf( "AH flight status: %c\n", flight_phase + '0' );
}
}
else if ( ident == "AI" ) { // HAL
if ( verify_checksum( msg, 4 ) ) {
hal = msg.substr(4,2);
//printf( "%10d received AI\n", outputctr );
}
}
else if ( ident == "Cj" ) { // Host ID
if ( verify_checksum( msg, 2 ) ) {
req_hostid = true;
//printf( "%10d received Cj\n", outputctr );
}
}
else if ( ident == "WA" ) { // SBAS selection
if ( verify_checksum( msg, 5 ) ) {
sbas_sel = msg.substr( 5, 2 );
req_sbas = true;
//printf( "%10d received WA\n", outputctr );
}
}
else if ( ident == "Wd" ) { // VAL
if ( verify_checksum( msg, 4 ) ) {
val = msg.substr( 4, 2 );
//printf( "%10d received Wd\n", outputctr );
}
}
else if ( ident == "WY" ) { // ???? Not listed in protocol document
// Do nothing until we know what it does
}
else {
string unkmsg = msg.substr( 0, 4 );
printf( "parse_message unknown: %s\n", unkmsg.c_str() );
}
return true;
}
// open hailing frequencies
bool FGAV400WSimB::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 FGAV400WSimB::process() {
SGIOChannel *io = get_io_channel();
// read the device messages back
// Because the protocol allows for binary data, we can't just read
// ascii lines.
char readbuf[10];
char *bufptr = buf;
int templen;
bool gotCr = false;
bool gotLf = false;
bool som1 = false;
bool som2 = false;
length = 0;
while ( ( templen = io->read( readbuf, 1 ) ) == 1 ) {
if ( !som1 && !som2 ) {
if ( *readbuf == '@' ) {
som1 = true;
}
else {
continue;
}
}
else if ( !som2 ) {
if ( *readbuf == '@' ) {
som2 = true;
}
else {
som1 = false;
continue;
}
}
else if ( som1 && som2 ) {
if ( *readbuf == '\n' && !gotCr ) { // check for a carriage return
gotCr = true;
}
else if ( *readbuf == '\n' && gotCr ) { // see if we got a cr/lf
gotLf = true;
}
else if ( gotCr ) { // we had a cr but the next char was not a lf, so just must be data
gotCr = false;
}
}
*bufptr++ = *readbuf;
length++;
if ( gotCr && gotLf ) { // message done
if ( parse_message() ) {
// SG_LOG( SG_IO, SG_ALERT, "Success parsing data." );
} else {
// SG_LOG( SG_IO, SG_ALERT, "Error parsing data." );
}
length = 0;
break;
}
}
// Check for polled messages
if ( req_hostid ) {
gen_hostid_message();
if ( ! io->write( buf, length ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
printf( "Error sending HostID\n" );
return false;
}
//printf( "Sent HostID, %d bytes\n", length );
req_hostid = false;
}
else if ( req_sbas ) {
gen_sbas_message();
if ( ! io->write( buf, length ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
printf( "Error sending SBAS\n" );
return false;
}
//printf( "Sent SBAS, %d bytes\n", length );
req_sbas = false;
}
// Send the 5Hz messages
gen_Wt_message();
if ( ! io->write( buf, length ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
printf( "Error writing hz message\n" );
return false;
}
//printf( "Sent Wt, %d bytes\n", length );
gen_Wm_message();
if ( ! io->write( buf, length ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
printf( "Error writing hz message\n" );
return false;
}
//printf( "Sent Wm, %d bytes\n", length );
gen_Wv_message();
if ( ! io->write( buf, length ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
printf( "Error writing hz message\n" );
return false;
}
//printf( "Sent Wv, %d bytes\n", length );
hz2count++;
if ( hz2 > 0 && ( hz2count % hz2cycles == 0 ) ) {
// Send the 1Hz messages
gen_Wh_message();
if ( ! io->write( buf, length ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
printf( "Error writing hz2 message\n" );
return false;
}
//printf( "Sent Wh, %d bytes\n", length );
gen_Wx_message();
if ( ! io->write( buf, length ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
printf( "Error writing hz2 message\n" );
return false;
}
//printf( "Sent Wx, %d bytes\n", length );
}
// read the device messages back again to make sure we don't miss anything
bufptr = buf;
templen = 0;
gotCr = false;
gotLf = false;
som1 = false;
som2 = false;
length = 0;
while ( ( templen = io->read( readbuf, 1 ) ) == 1 ) {
if ( !som1 && !som2 ) {
if ( *readbuf == '@' ) {
som1 = true;
}
else {
continue;
}
}
else if ( !som2 ) {
if ( *readbuf == '@' ) {
som2 = true;
}
else {
som1 = false;
continue;
}
}
else if ( som1 && som2 ) {
if ( *readbuf == '\n' && !gotCr ) { // check for a carriage return
gotCr = true;
}
else if ( *readbuf == '\n' && gotCr ) { // see if we got a cr/lf
gotLf = true;
}
else if ( gotCr ) { // we had a cr but the next char was not a lf, so just must be data
gotCr = false;
}
}
*bufptr++ = *readbuf;
length++;
if ( gotCr && gotLf ) { // message done
//string msg = buffer_to_string();
//string ascmsg = asciitize_message( msg );
//printf( "Received message\n" );
//printf( "%s\n", ascmsg.c_str() );
//printf( "got message\n" );
if ( parse_message() ) {
// SG_LOG( SG_IO, SG_ALERT, "Success parsing data." );
} else {
// SG_LOG( SG_IO, SG_ALERT, "Error parsing data." );
}
length = 0;
break;
}
}
outputctr++;
if ( outputctr % 10 == 0 ) {
//printf( "AV400WSimB::process finished\n" );
}
return true;
}
// close the channel
bool FGAV400WSimB::close() {
SGIOChannel *io = get_io_channel();
set_enabled( false );
if ( ! io->close() ) {
return false;
}
return true;
}
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