// (Log is kept at end of this file)
-#include <stdlib.h> // atoi()
+#include <Include/compiler.h>
-#include <string>
-#include <vector>
-#include "Include/fg_stl_config.h"
+#ifdef FG_HAVE_STD_INCLUDES
+# include <cstdlib> // atoi()
+#else
+# include <stdlib.h> // atoi()
+#endif
-#ifdef NEEDNAMESPACESTD
-using namespace std;
-#endif
+#include STL_STRING
+#include STL_IOSTREAM
+#include <vector>
-#include <Aircraft/aircraft.hxx>
#include <Debug/logstream.hxx>
+#include <Aircraft/aircraft.hxx>
#include <Include/fg_constants.h>
#include <Serial/serial.hxx>
#include <Time/fg_time.hxx>
#include "fg_serial.hxx"
+FG_USING_STD(string);
+FG_USING_STD(vector);
// support an arbitrary number of serial channels. Each channel can
// be assigned to an arbitrary port. Bi-directional communication is
fgIOCHANNEL::fgIOCHANNEL() :
- kind( FG_SERIAL_DISABLED )
+ kind( FG_SERIAL_DISABLED ),
+ valid_config( false )
{
}
// configure a port based on the config string
-static fgIOCHANNEL config_port( const string& config )
+static fgIOCHANNEL parse_port_config( const string& config )
{
fgIOCHANNEL p;
string::size_type begin, end;
- string device;
- string format;
- string baud;
- string direction;
-
begin = 0;
- FG_LOG( FG_SERIAL, FG_INFO, "Configuring serial port: " << config );
+ FG_LOG( FG_SERIAL, FG_INFO, "Parse serial port config: " << config );
// device name
end = config.find(",", begin);
return p;
}
- device = config.substr(begin, end - begin);
+ p.device = config.substr(begin, end - begin);
begin = end + 1;
- FG_LOG( FG_SERIAL, FG_INFO, " device = " << device );
+ FG_LOG( FG_SERIAL, FG_INFO, " device = " << p.device );
// format
end = config.find(",", begin);
return p;
}
- format = config.substr(begin, end - begin);
+ p.format = config.substr(begin, end - begin);
begin = end + 1;
- FG_LOG( FG_SERIAL, FG_INFO, " format = " << format );
+ FG_LOG( FG_SERIAL, FG_INFO, " format = " << p.format );
// baud
end = config.find(",", begin);
return p;
}
- baud = config.substr(begin, end - begin);
+ p.baud = config.substr(begin, end - begin);
begin = end + 1;
- FG_LOG( FG_SERIAL, FG_INFO, " baud = " << baud );
+ FG_LOG( FG_SERIAL, FG_INFO, " baud = " << p.baud );
// direction
- direction = config.substr(begin);
- FG_LOG( FG_SERIAL, FG_INFO, " direction = " << direction );
+ p.direction = config.substr(begin);
+ FG_LOG( FG_SERIAL, FG_INFO, " direction = " << p.direction );
+
+ p.valid_config = true;
+
+ return p;
+}
+
+// configure a port based on the config info
+static bool config_port( fgIOCHANNEL &p )
+{
if ( p.port.is_enabled() ) {
FG_LOG( FG_SERIAL, FG_ALERT, "This shouldn't happen, but the port "
<< "is already in use, ignoring" );
- return p;
+ return false;
}
- if ( ! p.port.open_port( device ) ) {
- FG_LOG( FG_SERIAL, FG_ALERT, "Error opening device: " << device );
- return p;
+ if ( ! p.port.open_port( p.device ) ) {
+ FG_LOG( FG_SERIAL, FG_ALERT, "Error opening device: " << p.device );
+ return false;
}
- if ( ! p.port.set_baud( atoi( baud.c_str() ) ) ) {
- FG_LOG( FG_SERIAL, FG_ALERT, "Error setting baud: " << baud );
- return p;
+ // cout << "fd = " << p.port.fd << endl;
+
+ if ( ! p.port.set_baud( atoi( p.baud.c_str() ) ) ) {
+ FG_LOG( FG_SERIAL, FG_ALERT, "Error setting baud: " << p.baud );
+ return false;
}
- if ( format == "nmea" ) {
- if ( direction == "out" ) {
+ if ( p.format == "nmea" ) {
+ if ( p.direction == "out" ) {
p.kind = fgIOCHANNEL::FG_SERIAL_NMEA_OUT;
- } else if ( direction == "in" ) {
+ } else if ( p.direction == "in" ) {
p.kind = fgIOCHANNEL::FG_SERIAL_NMEA_IN;
} else {
FG_LOG( FG_SERIAL, FG_ALERT, "Unknown direction" );
+ return false;
}
- } else if ( format == "garman" ) {
- if ( direction == "out" ) {
- p.kind = fgIOCHANNEL::FG_SERIAL_GARMAN_OUT;
- } else if ( direction == "in" ) {
- p.kind = fgIOCHANNEL::FG_SERIAL_GARMAN_IN;
+ } else if ( p.format == "garmin" ) {
+ if ( p.direction == "out" ) {
+ p.kind = fgIOCHANNEL::FG_SERIAL_GARMIN_OUT;
+ } else if ( p.direction == "in" ) {
+ p.kind = fgIOCHANNEL::FG_SERIAL_GARMIN_IN;
} else {
FG_LOG( FG_SERIAL, FG_ALERT, "Unknown direction" );
+ return false;
}
- } else if ( format == "fgfs" ) {
- if ( direction == "out" ) {
+ } else if ( p.format == "fgfs" ) {
+ if ( p.direction == "out" ) {
p.kind = fgIOCHANNEL::FG_SERIAL_FGFS_OUT;
- } else if ( direction == "in" ) {
+ } else if ( p.direction == "in" ) {
p.kind = fgIOCHANNEL::FG_SERIAL_FGFS_IN;
} else {
FG_LOG( FG_SERIAL, FG_ALERT, "Unknown direction" );
+ return false;
}
} else {
FG_LOG( FG_SERIAL, FG_ALERT, "Unknown format" );
+ return false;
}
- return p;
+ return true;
}
// serial port channels for each
void fgSerialInit() {
fgIOCHANNEL port;
+ bool result;
str_container port_options_list = current_options.get_port_options_list();
- const_str_iterator current = port_options_list.begin();
- const_str_iterator last = port_options_list.end();
-
- for ( ; current != last; ++current ) {
- port = config_port( *current );
- if ( port.kind != fgIOCHANNEL::FG_SERIAL_DISABLED ) {
- port_list.push_back( port );
+ // we could almost do this in a single step except pushing a valid
+ // port onto the port list copies the structure and destroys the
+ // original, which closes the port and frees up the fd ... doh!!!
+
+ // parse the configuration strings and store the results in stub
+ // fgIOCHANNEL structures
+ const_str_iterator current_str = port_options_list.begin();
+ const_str_iterator last_str = port_options_list.end();
+ for ( ; current_str != last_str; ++current_str ) {
+ port = parse_port_config( *current_str );
+ if ( port.valid_config ) {
+ result = config_port( port );
+ if ( result ) {
+ port_list.push_back( port );
+ }
}
}
}
}
-static void send_nmea_out( fgIOCHANNEL& p ) {
+static void send_nmea_out( fgIOCHANNEL *p ) {
char rmc[256], gga[256];
char rmc_sum[10], gga_sum[10];
char dir;
int deg;
double min;
- fgFLIGHT *f;
+ FGInterface *f;
fgTIME *t;
- // run once per second
- if ( p.last_time == cur_time_params.cur_time ) {
+ // run once every two seconds
+ if ( p->last_time == cur_time_params.cur_time ) {
return;
}
- p.last_time = cur_time_params.cur_time;
-
- f = current_aircraft.flight;
+ p->last_time = cur_time_params.cur_time;
+ if ( cur_time_params.cur_time % 2 != 0 ) {
+ return;
+ }
+
+ f = current_aircraft.fdm_state;
t = &cur_time_params;
char utc[10];
t->gmt->tm_hour, t->gmt->tm_min, t->gmt->tm_sec );
char lat[20];
- double latd = FG_Latitude * RAD_TO_DEG;
+ double latd = f->get_Latitude() * RAD_TO_DEG;
if ( latd < 0.0 ) {
latd *= -1.0;
dir = 'S';
sprintf( lat, "%02d%06.3f,%c", abs(deg), min, dir);
char lon[20];
- double lond = FG_Longitude * RAD_TO_DEG;
+ double lond = f->get_Longitude() * RAD_TO_DEG;
if ( lond < 0.0 ) {
lond *= -1.0;
dir = 'W';
}
deg = (int)(lond);
min = (lond - (double)deg) * 60.0;
- sprintf( lon, "%02d%06.3f,%c", abs(deg), min, dir);
+ sprintf( lon, "%03d%06.3f,%c", abs(deg), min, dir);
char speed[10];
- sprintf( speed, "%05.1f", FG_V_equiv_kts );
+ sprintf( speed, "%05.1f", f->get_V_equiv_kts() );
char heading[10];
- sprintf( heading, "%05.1f", FG_Psi * RAD_TO_DEG );
+ sprintf( heading, "%05.1f", f->get_Psi() * RAD_TO_DEG );
char altitude_m[10];
- sprintf( altitude_m, "%02d", (int)(FG_Altitude * FEET_TO_METER) );
+ sprintf( altitude_m, "%02d", (int)(f->get_Altitude() * FEET_TO_METER) );
char altitude_ft[10];
- sprintf( altitude_ft, "%02d", (int)FG_Altitude );
+ sprintf( altitude_ft, "%02d", (int)f->get_Altitude() );
char date[10];
sprintf( date, "%02d%02d%02d",
// $GPRMC,HHMMSS,A,DDMM.MMM,N,DDDMM.MMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E*XX
sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,0.000,E",
utc, lat, lon, speed, heading, date );
- sprintf( rmc_sum, "%02X", 0 /*calc_nmea_cksum(rmc)*/ );
+ sprintf( rmc_sum, "%02X", calc_nmea_cksum(rmc) );
- sprintf( gga, "GPGGA,%s,%s,%s,1,,,%s,M,,,,",
- utc, lat, lon, altitude_m );
- sprintf( gga_sum, "%02X", 0 /*calc_nmea_cksum(gga)*/ );
+ sprintf( gga, "GPGGA,%s,%s,%s,1,,,%s,F,,,,",
+ utc, lat, lon, altitude_ft );
+ sprintf( gga_sum, "%02X", calc_nmea_cksum(gga) );
FG_LOG( FG_SERIAL, FG_DEBUG, rmc );
FG_LOG( FG_SERIAL, FG_DEBUG, gga );
- // one full frame every 2 seconds according to the standard
- if ( cur_time_params.cur_time % 2 == 0 ) {
- // rmc on even seconds
- string rmc_sentence = "$";
- rmc_sentence += rmc;
- rmc_sentence += "*";
- rmc_sentence += rmc_sum;
- rmc_sentence += "\r\n";
- p.port.write_port(rmc_sentence);
- } else {
- // gga on odd seconds
- string gga_sentence = "$";
- gga_sentence += gga;
- gga_sentence += "*";
- gga_sentence += gga_sum;
- gga_sentence += "\n";
- // p.port.write_port(gga_sentence);
- }
+ // RMC sentence
+ string rmc_sentence = "$";
+ rmc_sentence += rmc;
+ rmc_sentence += "*";
+ rmc_sentence += rmc_sum;
+ rmc_sentence += "\n";
+ p->port.write_port(rmc_sentence);
+ // cout << rmc_sentence;
+
+ // GGA sentence
+ string gga_sentence = "$";
+ gga_sentence += gga;
+ gga_sentence += "*";
+ gga_sentence += gga_sum;
+ gga_sentence += "\n";
+ p->port.write_port(gga_sentence);
+ // cout << gga_sentence;
}
-static void read_nmea_in( fgIOCHANNEL& p ) {
+static void read_nmea_in( fgIOCHANNEL *p ) {
}
-static void send_garman_out( fgIOCHANNEL& p ) {
- char rmc[256], rmz[256];
+static void send_garmin_out( fgIOCHANNEL *p ) {
+ char rmc[256], rmc_sum[256], rmz[256], rmz_sum[256];
char dir;
int deg;
double min;
- fgFLIGHT *f;
+ FGInterface *f;
fgTIME *t;
// run once per second
- if ( p.last_time == cur_time_params.cur_time ) {
+ if ( p->last_time == cur_time_params.cur_time ) {
+ return;
+ }
+ p->last_time = cur_time_params.cur_time;
+ if ( cur_time_params.cur_time % 2 != 0 ) {
return;
}
- p.last_time = cur_time_params.cur_time;
- f = current_aircraft.flight;
+ f = current_aircraft.fdm_state;
t = &cur_time_params;
char utc[10];
t->gmt->tm_hour, t->gmt->tm_min, t->gmt->tm_sec );
char lat[20];
- double latd = FG_Latitude * RAD_TO_DEG;
+ double latd = f->get_Latitude() * RAD_TO_DEG;
if ( latd < 0.0 ) {
latd *= -1.0;
dir = 'S';
sprintf( lat, "%02d%06.3f,%c", abs(deg), min, dir);
char lon[20];
- double lond = FG_Longitude * RAD_TO_DEG;
+ double lond = f->get_Longitude() * RAD_TO_DEG;
if ( lond < 0.0 ) {
lond *= -1.0;
dir = 'W';
}
deg = (int)(lond);
min = (lond - (double)deg) * 60.0;
- sprintf( lon, "%02d%06.3f,%c", abs(deg), min, dir);
+ sprintf( lon, "%03d%06.3f,%c", abs(deg), min, dir);
char speed[10];
- sprintf( speed, "%05.1f", FG_V_equiv_kts );
+ sprintf( speed, "%05.1f", f->get_V_equiv_kts() );
char heading[10];
- sprintf( heading, "%05.1f", FG_Psi * RAD_TO_DEG );
+ sprintf( heading, "%05.1f", f->get_Psi() * RAD_TO_DEG );
char altitude_m[10];
- sprintf( altitude_m, "%02d", (int)(FG_Altitude * FEET_TO_METER) );
+ sprintf( altitude_m, "%02d", (int)(f->get_Altitude() * FEET_TO_METER) );
char altitude_ft[10];
- sprintf( altitude_ft, "%02d", (int)FG_Altitude );
+ sprintf( altitude_ft, "%02d", (int)f->get_Altitude() );
char date[10];
sprintf( date, "%02d%02d%02d",
t->gmt->tm_mday, t->gmt->tm_mon+1, t->gmt->tm_year );
// $GPRMC,HHMMSS,A,DDMM.MMM,N,DDDMM.MMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E*XX
- sprintf( rmc, "$GPRMC,%s,A,%s,%s,%s,%s,%s,000.0,E*00\r\n",
+ sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,000.0,E",
utc, lat, lon, speed, heading, date );
+ sprintf( rmc_sum, "%02X", calc_nmea_cksum(rmc) );
// sprintf( gga, "$GPGGA,%s,%s,%s,1,04,0.0,%s,M,00.0,M,,*00\r\n",
// utc, lat, lon, altitude_m );
- sprintf( rmz, "$PGRMZ,%s,f,3*00\r\n", altitude_ft );
+ sprintf( rmz, "PGRMZ,%s,f,3", altitude_ft );
+ sprintf( rmz_sum, "%02X", calc_nmea_cksum(rmz) );
FG_LOG( FG_SERIAL, FG_DEBUG, rmc );
FG_LOG( FG_SERIAL, FG_DEBUG, rmz );
-
- // one full frame every 2 seconds according to the standard
- if ( cur_time_params.cur_time % 2 == 0 ) {
- // rmc on even seconds
- p.port.write_port(rmc);
- } else {
- // rmz on odd seconds
- p.port.write_port(rmz);
- }
+ // RMC sentence
+ string rmc_sentence = "$";
+ rmc_sentence += rmc;
+ rmc_sentence += "*";
+ rmc_sentence += rmc_sum;
+ rmc_sentence += "\n";
+ p->port.write_port(rmc_sentence);
+ // cout << rmc_sentence;
+
+ // RMZ sentence (garmin proprietary)
+ string rmz_sentence = "$";
+ rmz_sentence += rmz;
+ rmz_sentence += "*";
+ rmz_sentence += rmz_sum;
+ rmz_sentence += "\n";
+ p->port.write_port(rmz_sentence);
+ // cout << rmz_sentence;
}
-static void read_garman_in( fgIOCHANNEL& p ) {
+static void read_garmin_in( fgIOCHANNEL *p ) {
}
-static void send_fgfs_out( fgIOCHANNEL& p ) {
+static void send_fgfs_out( fgIOCHANNEL *p ) {
}
-static void read_fgfs_in( fgIOCHANNEL& p ) {
+static void read_fgfs_in( fgIOCHANNEL *p ) {
}
// one more level of indirection ...
-static void process_port( fgIOCHANNEL& p ) {
- if ( p.kind == fgIOCHANNEL::FG_SERIAL_NMEA_OUT ) {
+static void process_port( fgIOCHANNEL *p ) {
+ if ( p->kind == fgIOCHANNEL::FG_SERIAL_NMEA_OUT ) {
send_nmea_out(p);
- } else if ( p.kind == fgIOCHANNEL::FG_SERIAL_NMEA_IN ) {
+ } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_NMEA_IN ) {
read_nmea_in(p);
- } else if ( p.kind == fgIOCHANNEL::FG_SERIAL_GARMAN_OUT ) {
- send_garman_out(p);
- } else if ( p.kind == fgIOCHANNEL::FG_SERIAL_GARMAN_IN ) {
- read_garman_in(p);
- } else if ( p.kind == fgIOCHANNEL::FG_SERIAL_FGFS_OUT ) {
+ } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_GARMIN_OUT ) {
+ send_garmin_out(p);
+ } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_GARMIN_IN ) {
+ read_garmin_in(p);
+ } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_FGFS_OUT ) {
send_fgfs_out(p);
- } else if ( p.kind == fgIOCHANNEL::FG_SERIAL_FGFS_IN ) {
+ } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_FGFS_IN ) {
read_fgfs_in(p);
}
}
// process any serial port work
void fgSerialProcess() {
- fgIOCHANNEL port;
+ fgIOCHANNEL *port;
- const_io_iterator current = port_list.begin();
- const_io_iterator last = port_list.end();
+ io_iterator current = port_list.begin();
+ io_iterator last = port_list.end();
for ( ; current != last; ++current ) {
- port = *current;
- if ( port.kind != fgIOCHANNEL::FG_SERIAL_DISABLED ) {
+ port = current;
+ if ( port->kind != fgIOCHANNEL::FG_SERIAL_DISABLED ) {
process_port ( port );
}
}
// $Log$
+// Revision 1.13 1999/03/02 01:03:16 curt
+// Tweaks for building with native SGI compilers.
+//
+// Revision 1.12 1999/02/26 22:09:50 curt
+// Added initial support for native SGI compilers.
+//
+// Revision 1.11 1999/02/05 21:29:11 curt
+// Modifications to incorporate Jon S. Berndts flight model code.
+//
+// Revision 1.10 1999/01/21 00:55:01 curt
+// Fixed some problems with timing of output strings.
+// Added checksum support for nmea and garmin output.
+//
+// Revision 1.9 1999/01/20 13:42:26 curt
+// Tweaked FDM interface.
+// Testing check sum support for NMEA serial output.
+//
+// Revision 1.8 1999/01/19 20:57:04 curt
+// MacOS portability changes contributed by "Robert Puyol" <puyol@abvent.fr>
+//
+// Revision 1.7 1998/12/05 15:54:21 curt
+// Renamed class fgFLIGHT to class FGState as per request by JSB.
+//
+// Revision 1.6 1998/12/03 01:17:18 curt
+// Converted fgFLIGHT to a class.
+//
+// Revision 1.5 1998/11/30 17:43:32 curt
+// Lots of tweaking to get serial output to actually work.
+//
// Revision 1.4 1998/11/25 01:33:58 curt
// Support for an arbitrary number of serial ports.
//
// Tweaking serial stuff.
//
// Revision 1.2 1998/11/19 13:53:25 curt
-// Added a "Garman" mode.
+// Added a "Garmin" mode.
//
// Revision 1.1 1998/11/16 13:57:42 curt
// Initial revision.
projects / flightgear.git / blobdiff