X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FNetwork%2Fnmea.cxx;h=28b92c54768f371234f348234cbd6b33e680df35;hb=2013f7149d239ad6dccd2fc53fb77c4a0c85e484;hp=9a5b46ae752847da35124d207729f1f4491aaccc;hpb=485230b443de22c97d5c4ddfda98598fb52ce98a;p=flightgear.git

diff --git a/src/Network/nmea.cxx b/src/Network/nmea.cxx
index 9a5b46ae7..28b92c547 100644
--- a/src/Network/nmea.cxx
+++ b/src/Network/nmea.cxx
@@ -2,7 +2,7 @@
 //
 // 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
@@ -16,25 +16,35 @@
 //
 // 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;
 }
 
 
@@ -62,71 +72,94 @@ static char calc_nmea_cksum(char *sentence) {
 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;
 
@@ -144,7 +177,11 @@ bool FGNMEA::gen_message() {
     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 );
@@ -160,11 +197,11 @@ bool FGNMEA::gen_message() {
 // $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;
@@ -174,12 +211,12 @@ bool FGNMEA::parse_message() {
     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);
@@ -189,7 +226,7 @@ bool FGNMEA::parse_message() {
     
 	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;
@@ -203,7 +240,7 @@ bool FGNMEA::parse_message() {
     
 	    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);
@@ -213,7 +250,7 @@ bool FGNMEA::parse_message() {
     
 	    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);
@@ -241,8 +278,8 @@ bool FGNMEA::parse_message() {
 		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);
@@ -270,16 +307,18 @@ bool FGNMEA::parse_message() {
 		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);
@@ -290,9 +329,9 @@ bool FGNMEA::parse_message() {
 	    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);
@@ -303,10 +342,10 @@ bool FGNMEA::parse_message() {
 	    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);
@@ -316,7 +355,7 @@ bool FGNMEA::parse_message() {
     
 	    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);
@@ -344,8 +383,8 @@ bool FGNMEA::parse_message() {
 		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);
@@ -373,8 +412,8 @@ bool FGNMEA::parse_message() {
 		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);
@@ -384,7 +423,7 @@ bool FGNMEA::parse_message() {
     
 	    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);
@@ -394,7 +433,7 @@ bool FGNMEA::parse_message() {
     
 	    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);
@@ -404,7 +443,7 @@ bool FGNMEA::parse_message() {
     
 	    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);
@@ -426,12 +465,12 @@ bool FGNMEA::parse_message() {
 	    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 );
 
 	}
 
@@ -448,15 +487,15 @@ bool FGNMEA::parse_message() {
 // 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;
     }
 
@@ -468,25 +507,25 @@ bool FGNMEA::open() {
 
 // 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;
 	}
     }
@@ -497,7 +536,7 @@ bool FGNMEA::process() {
 
 // close the channel
 bool FGNMEA::close() {
-    FGIOChannel *io = get_io_channel();
+    SGIOChannel *io = get_io_channel();
 
     set_enabled( false );