1 // AV400Sim.cxx -- Garmin 400 series protocal class. This AV400Sim
2 // protocol generates the set of "simulator" commands a garmin 400
3 // series gps would expect as input in simulator mode. The AV400
4 // protocol generates the set of commands that a garmin 400 series gps
7 // Written by Curtis Olson, started Janauary 2009.
9 // Copyright (C) 2009 Curtis L. Olson - http://www.flightgear.org/~curt
11 // This program is free software; you can redistribute it and/or
12 // modify it under the terms of the GNU General Public License as
13 // published by the Free Software Foundation; either version 2 of the
14 // License, or (at your option) any later version.
16 // This program is distributed in the hope that it will be useful, but
17 // WITHOUT ANY WARRANTY; without even the implied warranty of
18 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
19 // General Public License for more details.
21 // You should have received a copy of the GNU General Public License
22 // along with this program; if not, write to the Free Software
23 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
32 #include <simgear/debug/logstream.hxx>
33 #include <simgear/math/sg_geodesy.hxx>
34 #include <simgear/io/iochannel.hxx>
35 #include <simgear/timing/sg_time.hxx>
37 #include <FDM/flight.hxx>
38 #include <Main/fg_props.hxx>
39 #include <Main/globals.hxx>
41 #include "AV400Sim.hxx"
43 FGAV400Sim::FGAV400Sim() {
46 FGAV400Sim::~FGAV400Sim() {
50 // generate AV400Sim message
51 bool FGAV400Sim::gen_message() {
52 // cout << "generating garmin message" << endl;
54 char msg_a[32], msg_b[32], msg_c[32], msg_d[32], msg_e[32];
55 char msg_f[32], msg_i[32], msg_j[32], msg_k[32], msg_l[32], msg_r[32];
63 double latd = cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
71 min = (latd - (double)deg) * 60.0 * 100.0;
72 sprintf( msg_a, "a%c %03d %04.0f\r\n", dir, deg, min);
75 double lond = cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
83 min = (lond - (double)deg) * 60.0 * 100.0;
84 sprintf( msg_b, "b%c %03d %04.0f\r\n", dir, deg, min);
87 double alt = cur_fdm_state->get_Altitude();
88 if ( alt > 99999.0 ) { alt = 99999.0; }
89 sprintf( msg_c, "c%05.0f\r\n", alt );
92 double ve_kts = fgGetDouble( "/velocities/speed-east-fps" ) * SG_FPS_TO_KT;
99 if ( ve_kts > 999.0 ) { ve_kts = 999.0; }
100 sprintf( msg_d, "d%c%03.0f\r\n", dir, ve_kts );
103 double vn_kts = fgGetDouble( "/velocities/speed-north-fps" ) * SG_FPS_TO_KT;
104 if ( vn_kts < 0.0 ) {
110 if ( vn_kts > 999.0 ) { vn_kts = 999.0; }
111 sprintf( msg_e, "e%c%03.0f\r\n", dir, vn_kts );
114 double climb_fpm = fgGetDouble( "/velocities/vertical-speed-fps" ) * 60;
115 if ( climb_fpm < 0.0 ) {
116 climb_fpm = -climb_fpm;
121 if ( climb_fpm > 9999.0 ) { climb_fpm = 9999.0; }
122 sprintf( msg_f, "f%c%04.0f\r\n", dir, climb_fpm );
125 double fuel = fgGetDouble( "/consumables/fuel/total-fuel-gals" );
126 if ( fuel > 999.9 ) { fuel = 999.9; }
127 sprintf( msg_i, "i%04.0f\r\n", fuel*10.0 );
130 double gph = fgGetDouble( "/engines/engine[0]/fuel-flow-gph" );
131 gph += fgGetDouble( "/engines/engine[1]/fuel-flow-gph" );
132 gph += fgGetDouble( "/engines/engine[2]/fuel-flow-gph" );
133 gph += fgGetDouble( "/engines/engine[3]/fuel-flow-gph" );
134 if ( gph > 999.9 ) { gph = 999.9; }
135 sprintf( msg_j, "j%04.0f\r\n", gph*10.0 );
138 sprintf( msg_k, "k%04d%02d%02d%02d%02d%02d\r\n",
139 fgGetInt( "/sim/time/utc/year"),
140 fgGetInt( "/sim/time/utc/month"),
141 fgGetInt( "/sim/time/utc/day"),
142 fgGetInt( "/sim/time/utc/hour"),
143 fgGetInt( "/sim/time/utc/minute"),
144 fgGetInt( "/sim/time/utc/second") );
147 alt = fgGetDouble( "/instrumentation/pressure-alt-ft" );
148 if ( alt > 99999.0 ) { alt = 99999.0; }
149 sprintf( msg_l, "l%05.0f\r\n", alt );
152 sprintf( msg_r, "rA\r\n" );
155 sprintf( msg_type2, "w01%c\r\n", (char)65 );
159 sentence += '\002'; // STX
160 sentence += msg_a; // latitude
161 sentence += msg_b; // longitude
162 sentence += msg_c; // gps altitude
163 sentence += msg_d; // ve kts
164 sentence += msg_e; // vn kts
165 sentence += msg_f; // climb fpm
166 sentence += msg_i; // total fuel in gal (*10)
167 sentence += msg_j; // fuel flow gph (*10)
168 sentence += msg_k; // date/time (UTC)
169 sentence += msg_l; // pressure altitude
170 sentence += msg_r; // RAIM available
171 sentence += msg_type2; // type2 message
172 sentence += '\003'; // ETX
175 length = sentence.length();
176 // cout << endl << "length = " << length << endl;
177 strncpy( buf, sentence.c_str(), length );
183 // parse AV400Sim message
184 bool FGAV400Sim::parse_message() {
185 SG_LOG( SG_IO, SG_INFO, "parse garmin message" );
188 msg = msg.substr( 0, length );
189 SG_LOG( SG_IO, SG_INFO, "entire message = " << msg );
191 string::size_type begin_line, end_line, begin, end;
192 begin_line = begin = 0;
194 // extract out each line
195 end_line = msg.find("\n", begin_line);
196 while ( end_line != string::npos ) {
197 string line = msg.substr(begin_line, end_line - begin_line);
198 begin_line = end_line + 1;
199 SG_LOG( SG_IO, SG_INFO, " input line = " << line );
202 string start = msg.substr(begin, 1);
204 SG_LOG( SG_IO, SG_INFO, " start = " << start );
207 end = msg.find(",", begin);
208 if ( end == string::npos ) {
212 string sentence = msg.substr(begin, end - begin);
214 SG_LOG( SG_IO, SG_INFO, " sentence = " << sentence );
216 double lon_deg, lon_min, lat_deg, lat_min;
217 double lon, lat, speed, heading, altitude;
219 if ( sentence == "GPRMC" ) {
221 end = msg.find(",", begin);
222 if ( end == string::npos ) {
226 string utc = msg.substr(begin, end - begin);
228 SG_LOG( SG_IO, SG_INFO, " utc = " << utc );
231 end = msg.find(",", begin);
232 if ( end == string::npos ) {
236 string junk = msg.substr(begin, end - begin);
238 SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
241 end = msg.find(",", begin);
242 if ( end == string::npos ) {
246 string lat_str = msg.substr(begin, end - begin);
249 lat_deg = atof( lat_str.substr(0, 2).c_str() );
250 lat_min = atof( lat_str.substr(2).c_str() );
253 end = msg.find(",", begin);
254 if ( end == string::npos ) {
258 string lat_dir = msg.substr(begin, end - begin);
261 lat = lat_deg + ( lat_min / 60.0 );
262 if ( lat_dir == "S" ) {
266 cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
267 SG_LOG( SG_IO, SG_INFO, " lat = " << lat );
270 end = msg.find(",", begin);
271 if ( end == string::npos ) {
275 string lon_str = msg.substr(begin, end - begin);
278 lon_deg = atof( lon_str.substr(0, 3).c_str() );
279 lon_min = atof( lon_str.substr(3).c_str() );
282 end = msg.find(",", begin);
283 if ( end == string::npos ) {
287 string lon_dir = msg.substr(begin, end - begin);
290 lon = lon_deg + ( lon_min / 60.0 );
291 if ( lon_dir == "W" ) {
295 cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
296 SG_LOG( SG_IO, SG_INFO, " lon = " << lon );
299 double sl_radius, lat_geoc;
300 sgGeodToGeoc( cur_fdm_state->get_Latitude(),
301 cur_fdm_state->get_Altitude(),
302 &sl_radius, &lat_geoc );
303 cur_fdm_state->set_Geocentric_Position( lat_geoc,
304 cur_fdm_state->get_Longitude(),
305 sl_radius + cur_fdm_state->get_Altitude() );
309 end = msg.find(",", begin);
310 if ( end == string::npos ) {
314 string speed_str = msg.substr(begin, end - begin);
316 speed = atof( speed_str.c_str() );
317 cur_fdm_state->set_V_calibrated_kts( speed );
318 // cur_fdm_state->set_V_ground_speed( speed );
319 SG_LOG( SG_IO, SG_INFO, " speed = " << speed );
322 end = msg.find(",", begin);
323 if ( end == string::npos ) {
327 string hdg_str = msg.substr(begin, end - begin);
329 heading = atof( hdg_str.c_str() );
330 cur_fdm_state->set_Euler_Angles( cur_fdm_state->get_Phi(),
331 cur_fdm_state->get_Theta(),
332 heading * SGD_DEGREES_TO_RADIANS );
333 SG_LOG( SG_IO, SG_INFO, " heading = " << heading );
334 } else if ( sentence == "PGRMZ" ) {
336 end = msg.find(",", begin);
337 if ( end == string::npos ) {
341 string alt_str = msg.substr(begin, end - begin);
342 altitude = atof( alt_str.c_str() );
346 end = msg.find(",", begin);
347 if ( end == string::npos ) {
351 string alt_units = msg.substr(begin, end - begin);
354 if ( alt_units != "F" && alt_units != "f" ) {
355 altitude *= SG_METER_TO_FEET;
358 cur_fdm_state->set_Altitude( altitude );
360 SG_LOG( SG_IO, SG_INFO, " altitude = " << altitude );
364 // printf("%.8f %.8f\n", lon, lat);
367 end_line = msg.find("\n", begin_line);
374 // open hailing frequencies
375 bool FGAV400Sim::open() {
376 if ( is_enabled() ) {
377 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
378 << "is already in use, ignoring" );
382 SGIOChannel *io = get_io_channel();
384 if ( ! io->open( get_direction() ) ) {
385 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
395 // process work for this port
396 bool FGAV400Sim::process() {
397 SGIOChannel *io = get_io_channel();
399 if ( get_direction() == SG_IO_OUT ) {
401 if ( ! io->write( buf, length ) ) {
402 SG_LOG( SG_IO, SG_WARN, "Error writing data." );
405 } else if ( get_direction() == SG_IO_IN ) {
406 if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
407 SG_LOG( SG_IO, SG_ALERT, "Success reading data." );
408 if ( parse_message() ) {
409 SG_LOG( SG_IO, SG_ALERT, "Success parsing data." );
411 SG_LOG( SG_IO, SG_ALERT, "Error parsing data." );
414 SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
417 if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
418 SG_LOG( SG_IO, SG_ALERT, "Success reading data." );
419 if ( parse_message() ) {
420 SG_LOG( SG_IO, SG_ALERT, "Success parsing data." );
422 SG_LOG( SG_IO, SG_ALERT, "Error parsing data." );
425 SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
435 bool FGAV400Sim::close() {
436 SGIOChannel *io = get_io_channel();
438 set_enabled( false );
440 if ( ! io->close() ) {