1 // fg_serial.cxx -- higher level serial port management routines
3 // Written by Curtis Olson, started November 1998.
5 // Copyright (C) 1998 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
22 // (Log is kept at end of this file)
25 #include <Include/compiler.h>
27 #ifdef FG_HAVE_STD_INCLUDES
28 # include <cstdlib> // atoi()
30 # include <stdlib.h> // atoi()
36 #include "Include/fg_stl_config.h"
38 FG_USING_NAMESPACE(std);
40 #include <Aircraft/aircraft.hxx>
41 #include <Debug/logstream.hxx>
42 #include <Include/fg_constants.h>
43 #include <Serial/serial.hxx>
44 #include <Time/fg_time.hxx>
46 #include "options.hxx"
48 #include "fg_serial.hxx"
51 // support an arbitrary number of serial channels. Each channel can
52 // be assigned to an arbitrary port. Bi-directional communication is
53 // supported by the underlying layer, but probably will never be
56 typedef vector < fgIOCHANNEL > io_container;
57 typedef io_container::iterator io_iterator;
58 typedef io_container::const_iterator const_io_iterator;
60 // define the four channels
61 io_container port_list;
64 fgIOCHANNEL::fgIOCHANNEL() :
65 kind( FG_SERIAL_DISABLED ),
71 fgIOCHANNEL::~fgIOCHANNEL() {
75 // configure a port based on the config string
76 static fgIOCHANNEL parse_port_config( const string& config )
80 string::size_type begin, end;
84 FG_LOG( FG_SERIAL, FG_INFO, "Parse serial port config: " << config );
87 end = config.find(",", begin);
88 if ( end == string::npos ) {
92 p.device = config.substr(begin, end - begin);
94 FG_LOG( FG_SERIAL, FG_INFO, " device = " << p.device );
97 end = config.find(",", begin);
98 if ( end == string::npos ) {
102 p.format = config.substr(begin, end - begin);
104 FG_LOG( FG_SERIAL, FG_INFO, " format = " << p.format );
107 end = config.find(",", begin);
108 if ( end == string::npos ) {
112 p.baud = config.substr(begin, end - begin);
114 FG_LOG( FG_SERIAL, FG_INFO, " baud = " << p.baud );
117 p.direction = config.substr(begin);
118 FG_LOG( FG_SERIAL, FG_INFO, " direction = " << p.direction );
120 p.valid_config = true;
126 // configure a port based on the config info
127 static bool config_port( fgIOCHANNEL &p )
129 if ( p.port.is_enabled() ) {
130 FG_LOG( FG_SERIAL, FG_ALERT, "This shouldn't happen, but the port "
131 << "is already in use, ignoring" );
135 if ( ! p.port.open_port( p.device ) ) {
136 FG_LOG( FG_SERIAL, FG_ALERT, "Error opening device: " << p.device );
140 // cout << "fd = " << p.port.fd << endl;
142 if ( ! p.port.set_baud( atoi( p.baud.c_str() ) ) ) {
143 FG_LOG( FG_SERIAL, FG_ALERT, "Error setting baud: " << p.baud );
147 if ( p.format == "nmea" ) {
148 if ( p.direction == "out" ) {
149 p.kind = fgIOCHANNEL::FG_SERIAL_NMEA_OUT;
150 } else if ( p.direction == "in" ) {
151 p.kind = fgIOCHANNEL::FG_SERIAL_NMEA_IN;
153 FG_LOG( FG_SERIAL, FG_ALERT, "Unknown direction" );
156 } else if ( p.format == "garmin" ) {
157 if ( p.direction == "out" ) {
158 p.kind = fgIOCHANNEL::FG_SERIAL_GARMIN_OUT;
159 } else if ( p.direction == "in" ) {
160 p.kind = fgIOCHANNEL::FG_SERIAL_GARMIN_IN;
162 FG_LOG( FG_SERIAL, FG_ALERT, "Unknown direction" );
165 } else if ( p.format == "fgfs" ) {
166 if ( p.direction == "out" ) {
167 p.kind = fgIOCHANNEL::FG_SERIAL_FGFS_OUT;
168 } else if ( p.direction == "in" ) {
169 p.kind = fgIOCHANNEL::FG_SERIAL_FGFS_IN;
171 FG_LOG( FG_SERIAL, FG_ALERT, "Unknown direction" );
175 FG_LOG( FG_SERIAL, FG_ALERT, "Unknown format" );
183 // step through the port config streams (from fgOPTIONS) and setup
184 // serial port channels for each
185 void fgSerialInit() {
188 str_container port_options_list = current_options.get_port_options_list();
190 // we could almost do this in a single step except pushing a valid
191 // port onto the port list copies the structure and destroys the
192 // original, which closes the port and frees up the fd ... doh!!!
194 // parse the configuration strings and store the results in stub
195 // fgIOCHANNEL structures
196 const_str_iterator current_str = port_options_list.begin();
197 const_str_iterator last_str = port_options_list.end();
198 for ( ; current_str != last_str; ++current_str ) {
199 port = parse_port_config( *current_str );
200 if ( port.valid_config ) {
201 result = config_port( port );
203 port_list.push_back( port );
210 char calc_nmea_cksum(char *sentence) {
211 unsigned char sum = 0;
214 // printf("%s\n", sentence);
216 len = strlen(sentence);
218 for ( i = 1; i < len; i++ ) {
219 // printf("%c", sentence[i]);
224 // printf("sum = %02x\n", sum);
229 static void send_nmea_out( fgIOCHANNEL *p ) {
230 char rmc[256], gga[256];
231 char rmc_sum[10], gga_sum[10];
238 // run once every two seconds
239 if ( p->last_time == cur_time_params.cur_time ) {
242 p->last_time = cur_time_params.cur_time;
243 if ( cur_time_params.cur_time % 2 != 0 ) {
247 f = current_aircraft.fdm_state;
248 t = &cur_time_params;
251 sprintf( utc, "%02d%02d%02d",
252 t->gmt->tm_hour, t->gmt->tm_min, t->gmt->tm_sec );
255 double latd = f->get_Latitude() * RAD_TO_DEG;
263 min = (latd - (double)deg) * 60.0;
264 sprintf( lat, "%02d%06.3f,%c", abs(deg), min, dir);
267 double lond = f->get_Longitude() * RAD_TO_DEG;
275 min = (lond - (double)deg) * 60.0;
276 sprintf( lon, "%03d%06.3f,%c", abs(deg), min, dir);
279 sprintf( speed, "%05.1f", f->get_V_equiv_kts() );
282 sprintf( heading, "%05.1f", f->get_Psi() * RAD_TO_DEG );
285 sprintf( altitude_m, "%02d", (int)(f->get_Altitude() * FEET_TO_METER) );
287 char altitude_ft[10];
288 sprintf( altitude_ft, "%02d", (int)f->get_Altitude() );
291 sprintf( date, "%02d%02d%02d",
292 t->gmt->tm_mday, t->gmt->tm_mon+1, t->gmt->tm_year );
294 // $GPRMC,HHMMSS,A,DDMM.MMM,N,DDDMM.MMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E*XX
295 sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,0.000,E",
296 utc, lat, lon, speed, heading, date );
297 sprintf( rmc_sum, "%02X", calc_nmea_cksum(rmc) );
299 sprintf( gga, "GPGGA,%s,%s,%s,1,,,%s,F,,,,",
300 utc, lat, lon, altitude_ft );
301 sprintf( gga_sum, "%02X", calc_nmea_cksum(gga) );
304 FG_LOG( FG_SERIAL, FG_DEBUG, rmc );
305 FG_LOG( FG_SERIAL, FG_DEBUG, gga );
308 string rmc_sentence = "$";
311 rmc_sentence += rmc_sum;
312 rmc_sentence += "\n";
313 p->port.write_port(rmc_sentence);
314 // cout << rmc_sentence;
317 string gga_sentence = "$";
320 gga_sentence += gga_sum;
321 gga_sentence += "\n";
322 p->port.write_port(gga_sentence);
323 // cout << gga_sentence;
326 static void read_nmea_in( fgIOCHANNEL *p ) {
329 static void send_garmin_out( fgIOCHANNEL *p ) {
330 char rmc[256], rmc_sum[256], rmz[256], rmz_sum[256];
337 // run once per second
338 if ( p->last_time == cur_time_params.cur_time ) {
341 p->last_time = cur_time_params.cur_time;
342 if ( cur_time_params.cur_time % 2 != 0 ) {
346 f = current_aircraft.fdm_state;
347 t = &cur_time_params;
350 sprintf( utc, "%02d%02d%02d",
351 t->gmt->tm_hour, t->gmt->tm_min, t->gmt->tm_sec );
354 double latd = f->get_Latitude() * RAD_TO_DEG;
362 min = (latd - (double)deg) * 60.0;
363 sprintf( lat, "%02d%06.3f,%c", abs(deg), min, dir);
366 double lond = f->get_Longitude() * RAD_TO_DEG;
374 min = (lond - (double)deg) * 60.0;
375 sprintf( lon, "%03d%06.3f,%c", abs(deg), min, dir);
378 sprintf( speed, "%05.1f", f->get_V_equiv_kts() );
381 sprintf( heading, "%05.1f", f->get_Psi() * RAD_TO_DEG );
384 sprintf( altitude_m, "%02d", (int)(f->get_Altitude() * FEET_TO_METER) );
386 char altitude_ft[10];
387 sprintf( altitude_ft, "%02d", (int)f->get_Altitude() );
390 sprintf( date, "%02d%02d%02d",
391 t->gmt->tm_mday, t->gmt->tm_mon+1, t->gmt->tm_year );
393 // $GPRMC,HHMMSS,A,DDMM.MMM,N,DDDMM.MMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E*XX
394 sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,000.0,E",
395 utc, lat, lon, speed, heading, date );
396 sprintf( rmc_sum, "%02X", calc_nmea_cksum(rmc) );
398 // sprintf( gga, "$GPGGA,%s,%s,%s,1,04,0.0,%s,M,00.0,M,,*00\r\n",
399 // utc, lat, lon, altitude_m );
401 sprintf( rmz, "PGRMZ,%s,f,3", altitude_ft );
402 sprintf( rmz_sum, "%02X", calc_nmea_cksum(rmz) );
404 FG_LOG( FG_SERIAL, FG_DEBUG, rmc );
405 FG_LOG( FG_SERIAL, FG_DEBUG, rmz );
408 string rmc_sentence = "$";
411 rmc_sentence += rmc_sum;
412 rmc_sentence += "\n";
413 p->port.write_port(rmc_sentence);
414 // cout << rmc_sentence;
416 // RMZ sentence (garmin proprietary)
417 string rmz_sentence = "$";
420 rmz_sentence += rmz_sum;
421 rmz_sentence += "\n";
422 p->port.write_port(rmz_sentence);
423 // cout << rmz_sentence;
426 static void read_garmin_in( fgIOCHANNEL *p ) {
429 static void send_fgfs_out( fgIOCHANNEL *p ) {
432 static void read_fgfs_in( fgIOCHANNEL *p ) {
436 // one more level of indirection ...
437 static void process_port( fgIOCHANNEL *p ) {
438 if ( p->kind == fgIOCHANNEL::FG_SERIAL_NMEA_OUT ) {
440 } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_NMEA_IN ) {
442 } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_GARMIN_OUT ) {
444 } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_GARMIN_IN ) {
446 } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_FGFS_OUT ) {
448 } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_FGFS_IN ) {
454 // process any serial port work
455 void fgSerialProcess() {
458 io_iterator current = port_list.begin();
459 io_iterator last = port_list.end();
461 for ( ; current != last; ++current ) {
463 if ( port->kind != fgIOCHANNEL::FG_SERIAL_DISABLED ) {
464 process_port ( port );
471 // Revision 1.10 1999/01/21 00:55:01 curt
472 // Fixed some problems with timing of output strings.
473 // Added checksum support for nmea and garmin output.
475 // Revision 1.9 1999/01/20 13:42:26 curt
476 // Tweaked FDM interface.
477 // Testing check sum support for NMEA serial output.
479 // Revision 1.8 1999/01/19 20:57:04 curt
480 // MacOS portability changes contributed by "Robert Puyol" <puyol@abvent.fr>
482 // Revision 1.7 1998/12/05 15:54:21 curt
483 // Renamed class fgFLIGHT to class FGState as per request by JSB.
485 // Revision 1.6 1998/12/03 01:17:18 curt
486 // Converted fgFLIGHT to a class.
488 // Revision 1.5 1998/11/30 17:43:32 curt
489 // Lots of tweaking to get serial output to actually work.
491 // Revision 1.4 1998/11/25 01:33:58 curt
492 // Support for an arbitrary number of serial ports.
494 // Revision 1.3 1998/11/23 20:51:51 curt
495 // Tweaking serial stuff.
497 // Revision 1.2 1998/11/19 13:53:25 curt
498 // Added a "Garmin" mode.
500 // Revision 1.1 1998/11/16 13:57:42 curt