#include <simgear/debug/logstream.hxx>
-#include <simgear/math/fg_geodesy.hxx>
-#include <simgear/timing/fg_time.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/io/iochannel.hxx>
+#include <simgear/timing/sg_time.hxx>
#include <FDM/flight.hxx>
+#include <Main/fg_props.hxx>
+#include <Main/globals.hxx>
-#include "iochannel.hxx"
#include "garmin.hxx"
+SG_USING_NAMESPACE(std);
FGGarmin::FGGarmin() {
}
bool FGGarmin::gen_message() {
// cout << "generating garmin message" << endl;
- char rmc[256], rmc_sum[256], rmz[256], rmz_sum[256];
+ char rmc[256], rmc_sum[256], rmz[256], rmz_sum[256], gsa[256];
char dir;
int deg;
double min;
- FGTime *t = FGTime::cur_time_params;
+ SGTime *t = globals->get_time_params();
char utc[10];
sprintf( utc, "%02d%02d%02d",
t->getGmt()->tm_hour, t->getGmt()->tm_min, t->getGmt()->tm_sec );
- char lat[20];
- double latd = cur_fdm_state->get_Latitude() * RAD_TO_DEG;
+ char rmc_lat[20];
+ double latd = cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
if ( latd < 0.0 ) {
- latd *= -1.0;
+ latd = -latd;
dir = 'S';
} else {
dir = 'N';
}
deg = (int)(latd);
min = (latd - (double)deg) * 60.0;
- sprintf( lat, "%02d%06.3f,%c", abs(deg), min, dir);
+ sprintf( rmc_lat, "%02d%07.4f,%c", abs(deg), min, dir);
- char lon[20];
- double lond = cur_fdm_state->get_Longitude() * RAD_TO_DEG;
+ char rmc_lon[20];
+ double lond = cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
if ( lond < 0.0 ) {
- lond *= -1.0;
+ lond = -lond;
dir = 'W';
} else {
dir = 'E';
}
deg = (int)(lond);
min = (lond - (double)deg) * 60.0;
- sprintf( lon, "%03d%06.3f,%c", abs(deg), min, dir);
+ sprintf( rmc_lon, "%03d%07.4f,%c", abs(deg), min, dir);
char speed[10];
sprintf( speed, "%05.1f", cur_fdm_state->get_V_equiv_kts() );
char heading[10];
- sprintf( heading, "%05.1f", cur_fdm_state->get_Psi() * RAD_TO_DEG );
+ sprintf( heading, "%05.1f", cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES );
char altitude_m[10];
sprintf( altitude_m, "%02d",
- (int)(cur_fdm_state->get_Altitude() * FEET_TO_METER) );
-
- char altitude_ft[10];
- sprintf( altitude_ft, "%02d", (int)cur_fdm_state->get_Altitude() );
+ (int)(cur_fdm_state->get_Altitude() * SG_FEET_TO_METER) );
char date[10];
+ int year = t->getGmt()->tm_year;
+ while ( year >= 100 ) { year -= 100; }
sprintf( date, "%02d%02d%02d", t->getGmt()->tm_mday,
- t->getGmt()->tm_mon+1, t->getGmt()->tm_year );
+ t->getGmt()->tm_mon+1, year );
+
+ char magvar[10];
+ float magdeg = fgGetDouble( "/environment/magnetic-variation-deg" );
+ if ( magdeg < 0.0 ) {
+ magdeg = -magdeg;
+ dir = 'W';
+ } else {
+ dir = 'E';
+ }
+ sprintf( magvar, "%05.1f,%c", magdeg, dir );
- // $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",
- utc, lat, lon, speed, heading, date );
+ // $GPRMC,HHMMSS,A,DDMM.MMMM,N,DDDMM.MMMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E*XX
+ sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,%s",
+ utc, rmc_lat, rmc_lon, speed, heading, date, magvar );
sprintf( rmc_sum, "%02X", calc_nmea_cksum(rmc) );
// sprintf( gga, "$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", altitude_ft );
+ sprintf( rmz, "PGRMZ,%s,M,3", altitude_m );
sprintf( rmz_sum, "%02X", calc_nmea_cksum(rmz) );
- FG_LOG( FG_IO, FG_DEBUG, rmc );
- FG_LOG( FG_IO, FG_DEBUG, rmz );
+ sprintf( gsa, "%s",
+ "$GPGSA,A,3,01,02,03,,05,,07,,09,,11,12,0.9,0.9,2.0*38" );
+
+ SG_LOG( SG_IO, SG_DEBUG, rmc );
+ SG_LOG( SG_IO, SG_DEBUG, rmz );
+ SG_LOG( SG_IO, SG_DEBUG, gsa );
string garmin_sentence;
garmin_sentence += rmc;
garmin_sentence += "*";
garmin_sentence += rmc_sum;
- garmin_sentence += "\n";
+ garmin_sentence += "\r\n";
// RMZ sentence (garmin proprietary)
garmin_sentence += "$";
garmin_sentence += rmz;
garmin_sentence += "*";
garmin_sentence += rmz_sum;
- garmin_sentence += "\n";
+ garmin_sentence += "\r\n";
+
+ // GSA sentence (totally faked)
+ garmin_sentence += gsa;
+ garmin_sentence += "\r\n";
cout << garmin_sentence;
// parse Garmin message
bool FGGarmin::parse_message() {
- FG_LOG( FG_IO, FG_INFO, "parse garmin message" );
+ SG_LOG( SG_IO, SG_INFO, "parse garmin message" );
string msg = buf;
msg = msg.substr( 0, length );
- FG_LOG( FG_IO, FG_INFO, "entire message = " << msg );
+ SG_LOG( SG_IO, SG_INFO, "entire message = " << msg );
string::size_type begin_line, end_line, begin, end;
begin_line = begin = 0;
while ( end_line != string::npos ) {
string line = msg.substr(begin_line, end_line - begin_line);
begin_line = end_line + 1;
- FG_LOG( FG_IO, FG_INFO, " input line = " << line );
+ SG_LOG( SG_IO, SG_INFO, " input line = " << line );
// leading character
string start = msg.substr(begin, 1);
++begin;
- FG_LOG( FG_IO, FG_INFO, " start = " << start );
+ SG_LOG( SG_IO, SG_INFO, " start = " << start );
// sentence
end = msg.find(",", begin);
string sentence = msg.substr(begin, end - begin);
begin = end + 1;
- FG_LOG( FG_IO, FG_INFO, " sentence = " << sentence );
+ SG_LOG( SG_IO, SG_INFO, " sentence = " << sentence );
double lon_deg, lon_min, lat_deg, lat_min;
double lon, lat, speed, heading, altitude;
string utc = msg.substr(begin, end - begin);
begin = end + 1;
- FG_LOG( FG_IO, FG_INFO, " utc = " << utc );
+ SG_LOG( SG_IO, SG_INFO, " utc = " << utc );
// junk
end = msg.find(",", begin);
string junk = msg.substr(begin, end - begin);
begin = end + 1;
- FG_LOG( FG_IO, FG_INFO, " junk = " << junk );
+ SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
// lat val
end = msg.find(",", begin);
lat *= -1;
}
- cur_fdm_state->set_Latitude( lat * DEG_TO_RAD );
- FG_LOG( FG_IO, FG_INFO, " lat = " << lat );
+ cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
+ SG_LOG( SG_IO, SG_INFO, " lat = " << lat );
// lon val
end = msg.find(",", begin);
lon *= -1;
}
- cur_fdm_state->set_Longitude( lon * DEG_TO_RAD );
- FG_LOG( FG_IO, FG_INFO, " lon = " << lon );
+ cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
+ SG_LOG( SG_IO, SG_INFO, " lon = " << lon );
+#if 0
double sl_radius, lat_geoc;
- fgGeodToGeoc( cur_fdm_state->get_Latitude(),
+ sgGeodToGeoc( cur_fdm_state->get_Latitude(),
cur_fdm_state->get_Altitude(),
&sl_radius, &lat_geoc );
cur_fdm_state->set_Geocentric_Position( lat_geoc,
cur_fdm_state->get_Longitude(),
sl_radius + cur_fdm_state->get_Altitude() );
+#endif
// speed
end = msg.find(",", begin);
string speed_str = msg.substr(begin, end - begin);
begin = end + 1;
speed = atof( speed_str.c_str() );
- cur_fdm_state->set_V_equiv_kts( speed );
- cur_fdm_state->set_V_ground_speed( speed );
- FG_LOG( FG_IO, FG_INFO, " speed = " << speed );
+ cur_fdm_state->set_V_calibrated_kts( speed );
+ // cur_fdm_state->set_V_ground_speed( speed );
+ SG_LOG( SG_IO, SG_INFO, " speed = " << speed );
// heading
end = msg.find(",", begin);
heading = atof( hdg_str.c_str() );
cur_fdm_state->set_Euler_Angles( cur_fdm_state->get_Phi(),
cur_fdm_state->get_Theta(),
- heading * DEG_TO_RAD );
- FG_LOG( FG_IO, FG_INFO, " heading = " << heading );
+ heading * SGD_DEGREES_TO_RADIANS );
+ SG_LOG( SG_IO, SG_INFO, " heading = " << heading );
} else if ( sentence == "PGRMZ" ) {
// altitude
end = msg.find(",", begin);
begin = end + 1;
if ( alt_units != "F" && alt_units != "f" ) {
- altitude *= METER_TO_FEET;
+ altitude *= SG_METER_TO_FEET;
}
cur_fdm_state->set_Altitude( altitude );
- FG_LOG( FG_IO, FG_INFO, " altitude = " << altitude );
+ SG_LOG( SG_IO, SG_INFO, " altitude = " << altitude );
}
// open hailing frequencies
bool FGGarmin::open() {
if ( is_enabled() ) {
- FG_LOG( FG_IO, FG_ALERT, "This shouldn't happen, but the channel "
+ SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
<< "is already in use, ignoring" );
return false;
}
- FGIOChannel *io = get_io_channel();
+ SGIOChannel *io = get_io_channel();
if ( ! io->open( get_direction() ) ) {
- FG_LOG( FG_IO, FG_ALERT, "Error opening channel communication layer." );
+ SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
return false;
}
// process work for this port
bool FGGarmin::process() {
- FGIOChannel *io = get_io_channel();
+ SGIOChannel *io = get_io_channel();
- if ( get_direction() == out ) {
+ if ( get_direction() == SG_IO_OUT ) {
gen_message();
if ( ! io->write( buf, length ) ) {
- FG_LOG( FG_IO, FG_ALERT, "Error writing data." );
+ SG_LOG( SG_IO, SG_WARN, "Error writing data." );
return false;
}
- } else if ( get_direction() == in ) {
+ } else if ( get_direction() == SG_IO_IN ) {
if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
- FG_LOG( FG_IO, FG_ALERT, "Success reading data." );
+ SG_LOG( SG_IO, SG_ALERT, "Success reading data." );
if ( parse_message() ) {
- FG_LOG( FG_IO, FG_ALERT, "Success parsing data." );
+ SG_LOG( SG_IO, SG_ALERT, "Success parsing data." );
} else {
- FG_LOG( FG_IO, FG_ALERT, "Error parsing data." );
+ SG_LOG( SG_IO, SG_ALERT, "Error parsing data." );
}
} else {
- FG_LOG( FG_IO, FG_ALERT, "Error reading data." );
+ SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
return false;
}
if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
- FG_LOG( FG_IO, FG_ALERT, "Success reading data." );
+ SG_LOG( SG_IO, SG_ALERT, "Success reading data." );
if ( parse_message() ) {
- FG_LOG( FG_IO, FG_ALERT, "Success parsing data." );
+ SG_LOG( SG_IO, SG_ALERT, "Success parsing data." );
} else {
- FG_LOG( FG_IO, FG_ALERT, "Error parsing data." );
+ SG_LOG( SG_IO, SG_ALERT, "Error parsing data." );
}
} else {
- FG_LOG( FG_IO, FG_ALERT, "Error reading data." );
+ SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
return false;
}
}
// close the channel
bool FGGarmin::close() {
- FGIOChannel *io = get_io_channel();
+ SGIOChannel *io = get_io_channel();
set_enabled( false );
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