//
// Written by Curtis Olson, started November 1999.
//
-// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
+// Copyright (C) 1999 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
-#include <simgear/logstream.hxx>
-#include <simgear/fg_geodesy.hxx>
+#include <cstdlib>
+#include <cstring>
+#include <cstdio>
-#include <FDM/flight.hxx>
-#include <Time/fg_time.hxx>
+#include <simgear/debug/logstream.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/io/iochannel.hxx>
+#include <simgear/timing/sg_time.hxx>
-#include "iochannel.hxx"
-#include "nmea.hxx"
+#include <FDM/flightProperties.hxx>
+#include <Main/fg_props.hxx>
+#include <Main/globals.hxx>
+#include "nmea.hxx"
FGNMEA::FGNMEA() {
+ fdm = new FlightProperties();
}
FGNMEA::~FGNMEA() {
+ delete fdm;
}
bool FGNMEA::gen_message() {
// cout << "generating nmea message" << endl;
- char rmc[256], gga[256];
+ char rmc[256], gga[256], gsa[256];
char rmc_sum[10], gga_sum[10];
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 gga_lat[20], rmc_lat[20];
+ double latd = fdm->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( gga_lat, "%02d%07.4f,%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 gga_lon[20], rmc_lon[20];
+ double lond = fdm->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( gga_lon, "%03d%07.4f,%c", abs(deg), min, dir);
+ sprintf( rmc_lon, "%03d%07.4f,%c", abs(deg), min, dir);
+
+ double vn = fgGetDouble( "/velocities/speed-north-fps" );
+ double ve = fgGetDouble( "/velocities/speed-east-fps" );
+ double fps = sqrt( vn*vn + ve*ve );
+ double mps = fps * SG_FEET_TO_METER;
+ double kts = mps * SG_METER_TO_NM * 3600;
char speed[10];
- sprintf( speed, "%05.1f", cur_fdm_state->get_V_equiv_kts() );
+ sprintf( speed, "%.1f", kts );
+ double hdg_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
+ if ( hdg_true < 0 ) {
+ hdg_true += 360.0;
+ }
char heading[10];
- sprintf( heading, "%05.1f", cur_fdm_state->get_Psi() * RAD_TO_DEG );
+ sprintf( heading, "%.1f", hdg_true );
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() );
+ sprintf( altitude_m, "%.1f",
+ fdm->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 );
- // $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 );
+ char magvar[10];
+ float magdeg = fgGetDouble( "/environment/magnetic-variation-deg" );
+ if ( magdeg < 0.0 ) {
+ magdeg = -magdeg;
+ dir = 'W';
+ } else {
+ dir = 'E';
+ }
+ sprintf( magvar, "%.1f,%c", magdeg, dir );
+
+ // $GPRMC,HHMMSS,A,DDMM.MMMM,N,DDDMM.MMMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E,A*XX
+ sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,%s,A",
+ utc, rmc_lat, rmc_lon, speed, heading, date, magvar );
sprintf( rmc_sum, "%02X", calc_nmea_cksum(rmc) );
- sprintf( gga, "GPGGA,%s,%s,%s,1,,,%s,F,,,,",
- utc, lat, lon, altitude_ft );
+ // $GPGGA,HHMMSS,DDMM.MMMM,N,DDDMM.MMMM,W,1,NN,H.H,AAAA.A,M,GG.G,M,,*XX
+ sprintf( gga, "GPGGA,%s,%s,%s,1,08,0.9,%s,M,0.0,M,,",
+ utc, gga_lat, gga_lon, altitude_m );
sprintf( gga_sum, "%02X", calc_nmea_cksum(gga) );
+ sprintf( gsa, "%s",
+ "$GPGSA,A,3,01,02,03,,05,,07,,09,,11,12,0.9,0.9,2.0*38" );
-
- FG_LOG( FG_IO, FG_DEBUG, rmc );
- FG_LOG( FG_IO, FG_DEBUG, gga );
+ SG_LOG( SG_IO, SG_DEBUG, rmc );
+ SG_LOG( SG_IO, SG_DEBUG, gga );
+ SG_LOG( SG_IO, SG_DEBUG, gsa );
string nmea_sentence;
nmea_sentence += gga_sum;
nmea_sentence += "\n";
- cout << nmea_sentence;
+ // GSA sentence (totally faked)
+ nmea_sentence += gsa;
+ nmea_sentence += "\n";
+
+ // cout << nmea_sentence;
length = nmea_sentence.length();
strncpy( buf, nmea_sentence.c_str(), length );
// $GPGGA,163227,3321.173,N,11039.855,W,1,,,3333,F,,,,*0F
bool FGNMEA::parse_message() {
- FG_LOG( FG_IO, FG_INFO, "parse nmea message" );
+ SG_LOG( SG_IO, SG_INFO, "parse nmea 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 );
+ fdm->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 );
+ fdm->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(),
- cur_fdm_state->get_Altitude(),
+ sgGeodToGeoc( fdm->get_Latitude(),
+ fdm->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() );
+ fdm->set_Geocentric_Position( lat_geoc,
+ fdm->get_Longitude(),
+ sl_radius + fdm->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 );
+ fdm->set_V_calibrated_kts( speed );
+ // fdm->set_V_ground_speed( speed );
+ SG_LOG( SG_IO, SG_INFO, " speed = " << speed );
// heading
end = msg.find(",", begin);
string hdg_str = msg.substr(begin, end - begin);
begin = end + 1;
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 );
+ fdm->set_Euler_Angles( fdm->get_Phi(),
+ fdm->get_Theta(),
+ heading * SGD_DEGREES_TO_RADIANS );
+ SG_LOG( SG_IO, SG_INFO, " heading = " << heading );
} else if ( sentence == "GPGGA" ) {
// time
end = msg.find(",", begin);
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 );
// 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 );
+ // fdm->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 );
+ // fdm->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
+ SG_LOG( SG_IO, SG_INFO, " lon = " << lon );
// 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 );
// junk
end = msg.find(",", begin);
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 );
// junk
end = msg.find(",", begin);
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 );
// altitude
end = msg.find(",", begin);
begin = end + 1;
if ( alt_units != "F" ) {
- altitude *= METER_TO_FEET;
+ altitude *= SG_METER_TO_FEET;
}
- cur_fdm_state->set_Altitude( altitude );
+ fdm->set_Altitude( altitude );
- FG_LOG( FG_IO, FG_INFO, " altitude = " << altitude );
+ SG_LOG( SG_IO, SG_INFO, " altitude = " << altitude );
}
// open hailing frequencies
bool FGNMEA::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 FGNMEA::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 ) {
parse_message();
} else {
- FG_LOG( FG_IO, FG_ALERT, "Error reading data." );
+ SG_LOG( SG_IO, SG_WARN, "Error reading data." );
return false;
}
if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
parse_message();
} else {
- FG_LOG( FG_IO, FG_ALERT, "Error reading data." );
+ SG_LOG( SG_IO, SG_WARN, "Error reading data." );
return false;
}
}
// close the channel
bool FGNMEA::close() {
- FGIOChannel *io = get_io_channel();
+ SGIOChannel *io = get_io_channel();
set_enabled( false );
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