--- /dev/null
+// AV400.cxx -- Garmin 400 series protocal class
+//
+// Written by Curtis Olson, started August 2006.
+//
+// Copyright (C) 2006 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
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+//
+// $Id$
+
+
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
+
+#include <simgear/debug/logstream.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 "AV400.hxx"
+
+SG_USING_NAMESPACE(std);
+
+FGAV400::FGAV400() {
+}
+
+FGAV400::~FGAV400() {
+}
+
+
+// calculate the garmin check sum
+static char calc_nmea_cksum(char *sentence) {
+ unsigned char sum = 0;
+ int i, len;
+
+ // cout << sentence << endl;
+
+ len = strlen(sentence);
+ sum = sentence[0];
+ for ( i = 1; i < len; i++ ) {
+ // cout << sentence[i];
+ sum ^= sentence[i];
+ }
+ // cout << endl;
+
+ // printf("sum = %02x\n", sum);
+ return sum;
+}
+
+
+// generate AV400 message
+bool FGAV400::gen_message() {
+ // cout << "generating garmin message" << endl;
+
+ char msg_z[32], msg_A[32], msg_B[32], msg_C[32], msg_D[32];
+ char msg_Q[32], msg_T[32], msg_type2[256];
+ // the following could be implemented, but currently are unused
+ // char msg_E[32], msg_G[32], msg_I[32], msg_K[32], msg_L[32], msg_S[32];
+ // char msg_l[32];
+
+ char dir;
+ int deg;
+ double min;
+
+ // create msg_z
+ sprintf( msg_z, "z%05.0f\r\n", cur_fdm_state->get_Altitude() );
+
+ // create msg_A
+ sprintf( msg_A, "A");
+
+ double latd = cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
+ if ( latd < 0.0 ) {
+ latd = -latd;
+ dir = 'S';
+ } else {
+ dir = 'N';
+ }
+ deg = (int)latd;
+ min = (latd - (double)deg) * 60.0 * 100.0;
+ sprintf( msg_A, "A%c %02d %04.0f\r\n", dir, deg, min);
+
+ // create msg_B
+ double lond = cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
+ if ( lond < 0.0 ) {
+ lond = -lond;
+ dir = 'W';
+ } else {
+ dir = 'E';
+ }
+ deg = (int)lond;
+ min = (lond - (double)deg) * 60.0 * 100.0;
+ sprintf( msg_B, "B%c %03d %04.0f\r\n", dir, deg, min);
+
+ // create msg_C
+ double vn = fgGetDouble( "/velocities/speed-north-fps" );
+ double ve = fgGetDouble( "/velocities/speed-east-fps" );
+ double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
+ if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; }
+ sprintf( msg_C, "C%03.0f\r\n", gnd_trk_true);
+
+ // create msg_D
+ double speed_kt = sqrt( vn*vn + ve*ve ) * SG_FPS_TO_KT;
+ if ( speed_kt > 999.0 ) {
+ speed_kt = 999.0;
+ }
+ sprintf( msg_D, "D%03.0f\r\n", speed_kt);
+
+ // create msg_E (not implemented)
+ // create msg_G (not implemented)
+ // create msg_I (not implemented)
+ // create msg_K (not implemented)
+ // create msg_L (not implemented)
+
+ // create msg_Q
+ float magdeg = fgGetDouble( "/environment/magnetic-variation-deg" );
+ if ( magdeg < 0.0 ) {
+ magdeg = -magdeg;
+ dir = 'W';
+ } else {
+ dir = 'E';
+ }
+ sprintf( msg_Q, "Q%c%03.0f\r\n", dir, magdeg * 10.0 );
+
+ // create msg_S (not implemented)
+
+ // create msg_T
+ sprintf( msg_T, "T---------\r\n" );
+
+ // create msg_l (not implemented)
+
+ // sentence type 2
+ sprintf( msg_type2, "w01%c\r\n", (char)65 );
+
+ // assemble message
+ string sentence;
+ sentence += '\002'; // STX
+ sentence += msg_z; // altitude
+ sentence += msg_A; // latitude
+ sentence += msg_B; // longitude
+ sentence += msg_C; // ground track
+ sentence += msg_D; // ground speed (kt)
+ sentence += "E-----\r\n";
+ sentence += "G-----\r\n";
+ sentence += "I----\r\n";
+ sentence += "K-----\r\n";
+ sentence += "L----\r\n";
+ sentence += msg_Q; // magvar
+ sentence += "S-----\r\n";
+ sentence += msg_T; // end of type 1 messages (must be sent)
+ sentence += msg_type2; // type2 message
+ sentence += "l------\r\n";
+ sentence += '\003'; // ETX
+
+ cout << sentence;
+
+ length = sentence.length();
+ strncpy( buf, sentence.c_str(), length );
+
+ return true;
+}
+
+
+// parse AV400 message
+bool FGAV400::parse_message() {
+ SG_LOG( SG_IO, SG_INFO, "parse garmin message" );
+
+ string msg = buf;
+ msg = msg.substr( 0, length );
+ SG_LOG( SG_IO, SG_INFO, "entire message = " << msg );
+
+ string::size_type begin_line, end_line, begin, end;
+ begin_line = begin = 0;
+
+ // extract out each line
+ end_line = msg.find("\n", begin_line);
+ while ( end_line != string::npos ) {
+ string line = msg.substr(begin_line, end_line - begin_line);
+ begin_line = end_line + 1;
+ SG_LOG( SG_IO, SG_INFO, " input line = " << line );
+
+ // leading character
+ string start = msg.substr(begin, 1);
+ ++begin;
+ SG_LOG( SG_IO, SG_INFO, " start = " << start );
+
+ // sentence
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string sentence = msg.substr(begin, end - begin);
+ begin = end + 1;
+ SG_LOG( SG_IO, SG_INFO, " sentence = " << sentence );
+
+ double lon_deg, lon_min, lat_deg, lat_min;
+ double lon, lat, speed, heading, altitude;
+
+ if ( sentence == "GPRMC" ) {
+ // time
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string utc = msg.substr(begin, end - begin);
+ begin = end + 1;
+ SG_LOG( SG_IO, SG_INFO, " utc = " << utc );
+
+ // junk
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string junk = msg.substr(begin, end - begin);
+ begin = end + 1;
+ SG_LOG( SG_IO, SG_INFO, " junk = " << junk );
+
+ // lat val
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string lat_str = msg.substr(begin, end - begin);
+ begin = end + 1;
+
+ lat_deg = atof( lat_str.substr(0, 2).c_str() );
+ lat_min = atof( lat_str.substr(2).c_str() );
+
+ // lat dir
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string lat_dir = msg.substr(begin, end - begin);
+ begin = end + 1;
+
+ lat = lat_deg + ( lat_min / 60.0 );
+ if ( lat_dir == "S" ) {
+ lat *= -1;
+ }
+
+ cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
+ SG_LOG( SG_IO, SG_INFO, " lat = " << lat );
+
+ // lon val
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string lon_str = msg.substr(begin, end - begin);
+ begin = end + 1;
+
+ lon_deg = atof( lon_str.substr(0, 3).c_str() );
+ lon_min = atof( lon_str.substr(3).c_str() );
+
+ // lon dir
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string lon_dir = msg.substr(begin, end - begin);
+ begin = end + 1;
+
+ lon = lon_deg + ( lon_min / 60.0 );
+ if ( lon_dir == "W" ) {
+ lon *= -1;
+ }
+
+ 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;
+ 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);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string speed_str = msg.substr(begin, end - begin);
+ begin = end + 1;
+ speed = atof( speed_str.c_str() );
+ 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);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ 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 * SGD_DEGREES_TO_RADIANS );
+ SG_LOG( SG_IO, SG_INFO, " heading = " << heading );
+ } else if ( sentence == "PGRMZ" ) {
+ // altitude
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string alt_str = msg.substr(begin, end - begin);
+ altitude = atof( alt_str.c_str() );
+ begin = end + 1;
+
+ // altitude units
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string alt_units = msg.substr(begin, end - begin);
+ begin = end + 1;
+
+ if ( alt_units != "F" && alt_units != "f" ) {
+ altitude *= SG_METER_TO_FEET;
+ }
+
+ cur_fdm_state->set_Altitude( altitude );
+
+ SG_LOG( SG_IO, SG_INFO, " altitude = " << altitude );
+
+ }
+
+ // printf("%.8f %.8f\n", lon, lat);
+
+ begin = begin_line;
+ end_line = msg.find("\n", begin_line);
+ }
+
+ return true;
+}
+
+
+// open hailing frequencies
+bool FGAV400::open() {
+ if ( is_enabled() ) {
+ SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
+ << "is already in use, ignoring" );
+ return false;
+ }
+
+ SGIOChannel *io = get_io_channel();
+
+ if ( ! io->open( get_direction() ) ) {
+ SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
+ return false;
+ }
+
+ set_enabled( true );
+
+ return true;
+}
+
+
+// process work for this port
+bool FGAV400::process() {
+ SGIOChannel *io = get_io_channel();
+
+ if ( get_direction() == SG_IO_OUT ) {
+ gen_message();
+ if ( ! io->write( buf, length ) ) {
+ SG_LOG( SG_IO, SG_WARN, "Error writing data." );
+ return false;
+ }
+ } else if ( get_direction() == SG_IO_IN ) {
+ if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Success reading data." );
+ if ( parse_message() ) {
+ SG_LOG( SG_IO, SG_ALERT, "Success parsing data." );
+ } else {
+ SG_LOG( SG_IO, SG_ALERT, "Error parsing data." );
+ }
+ } else {
+ SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
+ return false;
+ }
+ if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Success reading data." );
+ if ( parse_message() ) {
+ SG_LOG( SG_IO, SG_ALERT, "Success parsing data." );
+ } else {
+ SG_LOG( SG_IO, SG_ALERT, "Error parsing data." );
+ }
+ } else {
+ SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
+ return false;
+ }
+ }
+
+ return true;
+}
+
+
+// close the channel
+bool FGAV400::close() {
+ SGIOChannel *io = get_io_channel();
+
+ set_enabled( false );
+
+ if ( ! io->close() ) {
+ return false;
+ }
+
+ return true;
+}
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