--- /dev/null
+// atlas.cxx -- Atlas protocal class
+//
+// Written by Curtis Olson, started November 1999.
+//
+// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
+//
+// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
+//
+// $Id$
+
+
+#include <simgear/debug/logstream.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/io/iochannel.hxx>
+
+#include <Cockpit/radiostack.hxx>
+#include <FDM/flight.hxx>
+#include <Main/globals.hxx>
+
+#include "atlas.hxx"
+
+
+FGAtlas::FGAtlas() {
+}
+
+FGAtlas::~FGAtlas() {
+}
+
+
+// calculate the atlas check sum
+static char calc_atlas_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 Atlas message
+bool FGAtlas::gen_message() {
+ // cout << "generating atlas message" << endl;
+
+ char rmc[256], gga[256], patla[256];
+ char rmc_sum[10], gga_sum[10], patla_sum[10];
+ char dir;
+ int deg;
+ double min;
+
+ 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;
+ if ( latd < 0.0 ) {
+ latd *= -1.0;
+ dir = 'S';
+ } else {
+ dir = 'N';
+ }
+ deg = (int)(latd);
+ min = (latd - (double)deg) * 60.0;
+ sprintf( lat, "%02d%06.3f,%c", abs(deg), min, dir);
+
+ char lon[20];
+ double lond = cur_fdm_state->get_Longitude() * RAD_TO_DEG;
+ if ( lond < 0.0 ) {
+ lond *= -1.0;
+ dir = 'W';
+ } else {
+ dir = 'E';
+ }
+ deg = (int)(lond);
+ min = (lond - (double)deg) * 60.0;
+ sprintf( lon, "%03d%06.3f,%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 );
+
+ 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() );
+
+ char date[10];
+ sprintf( date, "%02d%02d%02d", t->getGmt()->tm_mday,
+ t->getGmt()->tm_mon+1, t->getGmt()->tm_year );
+
+ // $GPRMC,HHMMSS,A,DDMM.MMM,N,DDDMM.MMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E*XX
+ sprintf( rmc, "GPRMC,%s,A,%s,%s,%s,%s,%s,0.000,E",
+ utc, lat, lon, speed, heading, date );
+ sprintf( rmc_sum, "%02X", calc_atlas_cksum(rmc) );
+
+ sprintf( gga, "GPGGA,%s,%s,%s,1,,,%s,F,,,,",
+ utc, lat, lon, altitude_ft );
+ sprintf( gga_sum, "%02X", calc_atlas_cksum(gga) );
+
+ sprintf( patla, "PATLA,%.2f,%.1f,%.2f,%.1f,%.0f",
+ current_radiostack->get_nav1_freq(),
+ current_radiostack->get_nav1_sel_radial(),
+ current_radiostack->get_nav2_freq(),
+ current_radiostack->get_nav2_sel_radial(),
+ current_radiostack->get_adf_freq() );
+ sprintf( patla_sum, "%02X", calc_atlas_cksum(patla) );
+
+ FG_LOG( FG_IO, FG_DEBUG, rmc );
+ FG_LOG( FG_IO, FG_DEBUG, gga );
+ FG_LOG( FG_IO, FG_DEBUG, patla );
+
+ string atlas_sentence;
+
+ // RMC sentence
+ atlas_sentence = "$";
+ atlas_sentence += rmc;
+ atlas_sentence += "*";
+ atlas_sentence += rmc_sum;
+ atlas_sentence += "\n";
+
+ // GGA sentence
+ atlas_sentence += "$";
+ atlas_sentence += gga;
+ atlas_sentence += "*";
+ atlas_sentence += gga_sum;
+ atlas_sentence += "\n";
+
+ // PATLA sentence
+ atlas_sentence += "$";
+ atlas_sentence += patla;
+ atlas_sentence += "*";
+ atlas_sentence += patla_sum;
+ atlas_sentence += "\n";
+
+ cout << atlas_sentence;
+
+ length = atlas_sentence.length();
+ strncpy( buf, atlas_sentence.c_str(), length );
+
+ return true;
+}
+
+
+// parse Atlas message. messages will look something like the
+// following:
+//
+// $GPRMC,163227,A,3321.173,N,11039.855,W,000.1,270.0,171199,0.000,E*61
+// $GPGGA,163227,3321.173,N,11039.855,W,1,,,3333,F,,,,*0F
+
+bool FGAtlas::parse_message() {
+ FG_LOG( FG_IO, FG_INFO, "parse atlas message" );
+
+ string msg = buf;
+ msg = msg.substr( 0, length );
+ FG_LOG( FG_IO, FG_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;
+ FG_LOG( FG_IO, FG_INFO, " input line = " << line );
+
+ // leading character
+ string start = msg.substr(begin, 1);
+ ++begin;
+ FG_LOG( FG_IO, FG_INFO, " start = " << start );
+
+ // sentence
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string sentence = msg.substr(begin, end - begin);
+ begin = end + 1;
+ FG_LOG( FG_IO, FG_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;
+ FG_LOG( FG_IO, FG_INFO, " utc = " << utc );
+
+ // junk
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string junk = msg.substr(begin, end - begin);
+ begin = end + 1;
+ FG_LOG( FG_IO, FG_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 * DEG_TO_RAD );
+ FG_LOG( FG_IO, FG_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 * DEG_TO_RAD );
+ FG_LOG( FG_IO, FG_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 );
+ FG_LOG( FG_IO, FG_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 * DEG_TO_RAD );
+ FG_LOG( FG_IO, FG_INFO, " heading = " << heading );
+ } else if ( sentence == "GPGGA" ) {
+ // time
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string utc = msg.substr(begin, end - begin);
+ begin = end + 1;
+ FG_LOG( FG_IO, FG_INFO, " utc = " << utc );
+
+ // 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 * DEG_TO_RAD );
+ FG_LOG( FG_IO, FG_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 * DEG_TO_RAD );
+ FG_LOG( FG_IO, FG_INFO, " lon = " << lon );
+
+ // junk
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ string junk = msg.substr(begin, end - begin);
+ begin = end + 1;
+ FG_LOG( FG_IO, FG_INFO, " junk = " << junk );
+
+ // junk
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ junk = msg.substr(begin, end - begin);
+ begin = end + 1;
+ FG_LOG( FG_IO, FG_INFO, " junk = " << junk );
+
+ // junk
+ end = msg.find(",", begin);
+ if ( end == string::npos ) {
+ return false;
+ }
+
+ junk = msg.substr(begin, end - begin);
+ begin = end + 1;
+ FG_LOG( FG_IO, FG_INFO, " junk = " << junk );
+
+ // 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" ) {
+ altitude *= METER_TO_FEET;
+ }
+
+ cur_fdm_state->set_Altitude( altitude );
+
+ FG_LOG( FG_IO, FG_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 FGAtlas::open() {
+ if ( is_enabled() ) {
+ FG_LOG( FG_IO, FG_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() ) ) {
+ FG_LOG( FG_IO, FG_ALERT, "Error opening channel communication layer." );
+ return false;
+ }
+
+ set_enabled( true );
+
+ return true;
+}
+
+
+// process work for this port
+bool FGAtlas::process() {
+ SGIOChannel *io = get_io_channel();
+
+ if ( get_direction() == SG_IO_OUT ) {
+ gen_message();
+ if ( ! io->write( buf, length ) ) {
+ FG_LOG( FG_IO, FG_ALERT, "Error writing data." );
+ return false;
+ }
+ } 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." );
+ return false;
+ }
+ if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
+ parse_message();
+ } else {
+ FG_LOG( FG_IO, FG_ALERT, "Error reading data." );
+ return false;
+ }
+ }
+
+ return true;
+}
+
+
+// close the channel
+bool FGAtlas::close() {
+ SGIOChannel *io = get_io_channel();
+
+ set_enabled( false );
+
+ if ( ! io->close() ) {
+ return false;
+ }
+
+ return true;
+}
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