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flightgear/src/Network/AV400.cxx
Christian Schmitt 2013f7149d Some headers missing... ;)
2013-02-07 19:00:54 +01:00

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// AV400.cxx -- Garmin 400 series protocal class
//
// Written by Curtis Olson, started August 2006.
//
// Copyright (C) 2006 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 <cstdio>
#include <cstdlib>
#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 <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include "AV400.hxx"
FGAV400::FGAV400() {
}
FGAV400::~FGAV400() {
}
#if 0
// calculate the garmin check sum
static char calc_nmea_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;
}
#endif
// generate AV400 message
bool FGAV400::gen_message() {
// cout << "generating garmin message" << endl;
char msg_z[32], msg_A[32], msg_B[32], msg_C[32], msg_D[32];
char msg_Q[32], msg_T[32], msg_type2[256];
// the following could be implemented, but currently are unused
// char msg_E[32], msg_G[32], msg_I[32], msg_K[32], msg_L[32], msg_S[32];
// char msg_l[32];
char dir;
int deg;
double min;
// create msg_z
sprintf( msg_z, "z%05.0f\r\n", fdm.get_Altitude() );
// create msg_A
sprintf( msg_A, "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 %02d %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
float magdeg = fgGetDouble( "/environment/magnetic-variation-deg" );
double vn = fgGetDouble( "/velocities/speed-north-fps" );
double ve = fgGetDouble( "/velocities/speed-east-fps" );
double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
double gnd_trk_mag = gnd_trk_true - magdeg;
if ( gnd_trk_mag < 0.0 ) { gnd_trk_mag += 360.0; }
if ( gnd_trk_mag >= 360.0 ) { gnd_trk_mag -= 360.0; }
sprintf( msg_C, "C%03.0f\r\n", gnd_trk_mag);
// create msg_D
double speed_kt = sqrt( vn*vn + ve*ve ) * SG_FPS_TO_KT;
if ( speed_kt > 999.0 ) {
speed_kt = 999.0;
}
sprintf( msg_D, "D%03.0f\r\n", speed_kt);
// create msg_E (not implemented)
// create msg_G (not implemented)
// create msg_I (not implemented)
// create msg_K (not implemented)
// create msg_L (not implemented)
// create msg_Q
if ( magdeg < 0.0 ) {
magdeg = -magdeg;
dir = 'W';
} else {
dir = 'E';
}
sprintf( msg_Q, "Q%c%03.0f\r\n", dir, magdeg * 10.0 );
// create msg_S (not implemented)
// create msg_T
sprintf( msg_T, "T---------\r\n" );
// create msg_l (not implemented)
// sentence type 2
sprintf( msg_type2, "w01%c\r\n", (char)65 );
// assemble message
string sentence;
sentence += '\002'; // STX
sentence += msg_z; // altitude
sentence += msg_A; // latitude
sentence += msg_B; // longitude
sentence += msg_C; // ground track
sentence += msg_D; // ground speed (kt)
// sentence += "E-----\r\n";
// sentence += "G-----\r\n";
// sentence += "I----\r\n";
// sentence += "K-----\r\n";
// sentence += "L----\r\n";
sentence += msg_Q; // magvar
// sentence += "S-----\r\n";
sentence += msg_T; // end of type 1 messages (must be sent)
sentence += msg_type2; // type2 message
// sentence += "l------\r\n";
sentence += '\003'; // ETX
// cout << sentence;
length = sentence.length();
// cout << endl << "length = " << length << endl;
strncpy( buf, sentence.c_str(), length );
return true;
}
// parse AV400 message
bool FGAV400::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;
}
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 == "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 );
}
// printf("%.8f %.8f\n", lon, lat);
begin = begin_line;
end_line = msg.find("\n", begin_line);
}
return true;
}
// open hailing frequencies
bool FGAV400::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 FGAV400::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 FGAV400::close() {
SGIOChannel *io = get_io_channel();
set_enabled( false );
if ( ! io->close() ) {
return false;
}
return true;
}
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