1 // atlas.cxx -- Atlas protocal class
3 // Written by Curtis Olson, started November 1999.
5 // Copyright (C) 1999 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.
24 #include <simgear/debug/logstream.hxx>
25 #include <simgear/math/sg_geodesy.hxx>
26 #include <simgear/io/iochannel.hxx>
28 #include <Cockpit/radiostack.hxx>
29 #include <FDM/flight.hxx>
30 #include <Main/globals.hxx>
42 // calculate the atlas check sum
43 static char calc_atlas_cksum(char *sentence) {
44 unsigned char sum = 0;
47 // cout << sentence << endl;
49 len = strlen(sentence);
51 for ( i = 1; i < len; i++ ) {
52 // cout << sentence[i];
57 // printf("sum = %02x\n", sum);
62 // generate Atlas message
63 bool FGAtlas::gen_message() {
64 // cout << "generating atlas message" << endl;
66 char rmc[256], gga[256], patla[256];
67 char rmc_sum[10], gga_sum[10], patla_sum[10];
72 SGTime *t = globals->get_time_params();
75 sprintf( utc, "%02d%02d%02d",
76 t->getGmt()->tm_hour, t->getGmt()->tm_min, t->getGmt()->tm_sec );
79 double latd = cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
87 min = (latd - (double)deg) * 60.0;
88 sprintf( lat, "%02d%06.3f,%c", abs(deg), min, dir);
91 double lond = cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
99 min = (lond - (double)deg) * 60.0;
100 sprintf( lon, "%03d%06.3f,%c", abs(deg), min, dir);
103 sprintf( speed, "%05.1f", cur_fdm_state->get_V_equiv_kts() );
106 sprintf( heading, "%05.1f", cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES );
109 sprintf( altitude_m, "%02d",
110 (int)(cur_fdm_state->get_Altitude() * SG_FEET_TO_METER) );
112 char altitude_ft[10];
113 sprintf( altitude_ft, "%02d", (int)cur_fdm_state->get_Altitude() );
116 sprintf( date, "%02d%02d%02d", t->getGmt()->tm_mday,
117 t->getGmt()->tm_mon+1, t->getGmt()->tm_year );
119 // $GPRMC,HHMMSS,A,DDMM.MMM,N,DDDMM.MMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E*XX
120 sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,0.000,E",
121 utc, lat, lon, speed, heading, date );
122 sprintf( rmc_sum, "%02X", calc_atlas_cksum(rmc) );
124 sprintf( gga, "GPGGA,%s,%s,%s,1,,,%s,F,,,,",
125 utc, lat, lon, altitude_ft );
126 sprintf( gga_sum, "%02X", calc_atlas_cksum(gga) );
128 sprintf( patla, "PATLA,%.2f,%.1f,%.2f,%.1f,%.0f",
129 current_radiostack->get_nav1_freq(),
130 current_radiostack->get_nav1_sel_radial(),
131 current_radiostack->get_nav2_freq(),
132 current_radiostack->get_nav2_sel_radial(),
133 current_radiostack->get_adf_freq() );
134 sprintf( patla_sum, "%02X", calc_atlas_cksum(patla) );
136 SG_LOG( SG_IO, SG_DEBUG, rmc );
137 SG_LOG( SG_IO, SG_DEBUG, gga );
138 SG_LOG( SG_IO, SG_DEBUG, patla );
140 string atlas_sentence;
143 atlas_sentence = "$";
144 atlas_sentence += rmc;
145 atlas_sentence += "*";
146 atlas_sentence += rmc_sum;
147 atlas_sentence += "\n";
150 atlas_sentence += "$";
151 atlas_sentence += gga;
152 atlas_sentence += "*";
153 atlas_sentence += gga_sum;
154 atlas_sentence += "\n";
157 atlas_sentence += "$";
158 atlas_sentence += patla;
159 atlas_sentence += "*";
160 atlas_sentence += patla_sum;
161 atlas_sentence += "\n";
163 cout << atlas_sentence;
165 length = atlas_sentence.length();
166 strncpy( buf, atlas_sentence.c_str(), length );
172 // parse Atlas message. messages will look something like the
175 // $GPRMC,163227,A,3321.173,N,11039.855,W,000.1,270.0,171199,0.000,E*61
176 // $GPGGA,163227,3321.173,N,11039.855,W,1,,,3333,F,,,,*0F
178 bool FGAtlas::parse_message() {
179 SG_LOG( SG_IO, SG_INFO, "parse atlas message" );
182 msg = msg.substr( 0, length );
183 SG_LOG( SG_IO, SG_INFO, "entire message = " << msg );
185 string::size_type begin_line, end_line, begin, end;
186 begin_line = begin = 0;
188 // extract out each line
189 end_line = msg.find("\n", begin_line);
190 while ( end_line != string::npos ) {
191 string line = msg.substr(begin_line, end_line - begin_line);
192 begin_line = end_line + 1;
193 SG_LOG( SG_IO, SG_INFO, " input line = " << line );
196 string start = msg.substr(begin, 1);
198 SG_LOG( SG_IO, SG_INFO, " start = " << start );
201 end = msg.find(",", begin);
202 if ( end == string::npos ) {
206 string sentence = msg.substr(begin, end - begin);
208 SG_LOG( SG_IO, SG_INFO, " sentence = " << sentence );
210 double lon_deg, lon_min, lat_deg, lat_min;
211 double lon, lat, speed, heading, altitude;
213 if ( sentence == "GPRMC" ) {
215 end = msg.find(",", begin);
216 if ( end == string::npos ) {
220 string utc = msg.substr(begin, end - begin);
222 SG_LOG( SG_IO, SG_INFO, " utc = " << utc );
225 end = msg.find(",", begin);
226 if ( end == string::npos ) {
230 string junk = msg.substr(begin, end - begin);
232 SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
235 end = msg.find(",", begin);
236 if ( end == string::npos ) {
240 string lat_str = msg.substr(begin, end - begin);
243 lat_deg = atof( lat_str.substr(0, 2).c_str() );
244 lat_min = atof( lat_str.substr(2).c_str() );
247 end = msg.find(",", begin);
248 if ( end == string::npos ) {
252 string lat_dir = msg.substr(begin, end - begin);
255 lat = lat_deg + ( lat_min / 60.0 );
256 if ( lat_dir == "S" ) {
260 cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
261 SG_LOG( SG_IO, SG_INFO, " lat = " << lat );
264 end = msg.find(",", begin);
265 if ( end == string::npos ) {
269 string lon_str = msg.substr(begin, end - begin);
272 lon_deg = atof( lon_str.substr(0, 3).c_str() );
273 lon_min = atof( lon_str.substr(3).c_str() );
276 end = msg.find(",", begin);
277 if ( end == string::npos ) {
281 string lon_dir = msg.substr(begin, end - begin);
284 lon = lon_deg + ( lon_min / 60.0 );
285 if ( lon_dir == "W" ) {
289 cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
290 SG_LOG( SG_IO, SG_INFO, " lon = " << lon );
293 double sl_radius, lat_geoc;
294 sgGeodToGeoc( cur_fdm_state->get_Latitude(),
295 cur_fdm_state->get_Altitude(),
296 &sl_radius, &lat_geoc );
297 cur_fdm_state->set_Geocentric_Position( lat_geoc,
298 cur_fdm_state->get_Longitude(),
299 sl_radius + cur_fdm_state->get_Altitude() );
303 end = msg.find(",", begin);
304 if ( end == string::npos ) {
308 string speed_str = msg.substr(begin, end - begin);
310 speed = atof( speed_str.c_str() );
311 cur_fdm_state->set_V_calibrated_kts( speed );
312 // cur_fdm_state->set_V_ground_speed( speed );
313 SG_LOG( SG_IO, SG_INFO, " speed = " << speed );
316 end = msg.find(",", begin);
317 if ( end == string::npos ) {
321 string hdg_str = msg.substr(begin, end - begin);
323 heading = atof( hdg_str.c_str() );
324 cur_fdm_state->set_Euler_Angles( cur_fdm_state->get_Phi(),
325 cur_fdm_state->get_Theta(),
326 heading * SGD_DEGREES_TO_RADIANS );
327 SG_LOG( SG_IO, SG_INFO, " heading = " << heading );
328 } else if ( sentence == "GPGGA" ) {
330 end = msg.find(",", begin);
331 if ( end == string::npos ) {
335 string utc = msg.substr(begin, end - begin);
337 SG_LOG( SG_IO, SG_INFO, " utc = " << utc );
340 end = msg.find(",", begin);
341 if ( end == string::npos ) {
345 string lat_str = msg.substr(begin, end - begin);
348 lat_deg = atof( lat_str.substr(0, 2).c_str() );
349 lat_min = atof( lat_str.substr(2).c_str() );
352 end = msg.find(",", begin);
353 if ( end == string::npos ) {
357 string lat_dir = msg.substr(begin, end - begin);
360 lat = lat_deg + ( lat_min / 60.0 );
361 if ( lat_dir == "S" ) {
365 // cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
366 SG_LOG( SG_IO, SG_INFO, " lat = " << lat );
369 end = msg.find(",", begin);
370 if ( end == string::npos ) {
374 string lon_str = msg.substr(begin, end - begin);
377 lon_deg = atof( lon_str.substr(0, 3).c_str() );
378 lon_min = atof( lon_str.substr(3).c_str() );
381 end = msg.find(",", begin);
382 if ( end == string::npos ) {
386 string lon_dir = msg.substr(begin, end - begin);
389 lon = lon_deg + ( lon_min / 60.0 );
390 if ( lon_dir == "W" ) {
394 // cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
395 SG_LOG( SG_IO, SG_INFO, " lon = " << lon );
398 end = msg.find(",", begin);
399 if ( end == string::npos ) {
403 string junk = msg.substr(begin, end - begin);
405 SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
408 end = msg.find(",", begin);
409 if ( end == string::npos ) {
413 junk = msg.substr(begin, end - begin);
415 SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
418 end = msg.find(",", begin);
419 if ( end == string::npos ) {
423 junk = msg.substr(begin, end - begin);
425 SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
428 end = msg.find(",", begin);
429 if ( end == string::npos ) {
433 string alt_str = msg.substr(begin, end - begin);
434 altitude = atof( alt_str.c_str() );
438 end = msg.find(",", begin);
439 if ( end == string::npos ) {
443 string alt_units = msg.substr(begin, end - begin);
446 if ( alt_units != "F" ) {
447 altitude *= SG_METER_TO_FEET;
450 cur_fdm_state->set_Altitude( altitude );
452 SG_LOG( SG_IO, SG_INFO, " altitude = " << altitude );
454 } else if ( sentence == "PATLA" ) {
456 end = msg.find(",", begin);
457 if ( end == string::npos ) {
461 string nav1_freq = msg.substr(begin, end - begin);
463 SG_LOG( SG_IO, SG_INFO, " nav1_freq = " << nav1_freq );
465 // nav1 selected radial
466 end = msg.find(",", begin);
467 if ( end == string::npos ) {
471 string nav1_rad = msg.substr(begin, end - begin);
473 SG_LOG( SG_IO, SG_INFO, " nav1_rad = " << nav1_rad );
476 end = msg.find(",", begin);
477 if ( end == string::npos ) {
481 string nav2_freq = msg.substr(begin, end - begin);
483 SG_LOG( SG_IO, SG_INFO, " nav2_freq = " << nav2_freq );
485 // nav2 selected radial
486 end = msg.find(",", begin);
487 if ( end == string::npos ) {
491 string nav2_rad = msg.substr(begin, end - begin);
493 SG_LOG( SG_IO, SG_INFO, " nav2_rad = " << nav2_rad );
496 end = msg.find("*", begin);
497 if ( end == string::npos ) {
501 string adf_freq = msg.substr(begin, end - begin);
503 SG_LOG( SG_IO, SG_INFO, " adf_freq = " << adf_freq );
506 // printf("%.8f %.8f\n", lon, lat);
509 end_line = msg.find("\n", begin_line);
516 // open hailing frequencies
517 bool FGAtlas::open() {
518 if ( is_enabled() ) {
519 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
520 << "is already in use, ignoring" );
524 SGIOChannel *io = get_io_channel();
526 if ( ! io->open( get_direction() ) ) {
527 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
537 // process work for this port
538 bool FGAtlas::process() {
539 SGIOChannel *io = get_io_channel();
541 if ( get_direction() == SG_IO_OUT ) {
543 if ( ! io->write( buf, length ) ) {
544 SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
547 } else if ( get_direction() == SG_IO_IN ) {
548 if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
551 SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
554 if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
557 SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
567 bool FGAtlas::close() {
568 SGIOChannel *io = get_io_channel();
570 set_enabled( false );
572 if ( ! io->close() ) {