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https://github.com/thooge/esp32-nmea2000-obp60.git
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intermediate: NMEA0183A AIS to N2K
This commit is contained in:
andreas
278
lib/nmea0183ton2k/NMEA0183AIStoNMEA2000.h
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278
lib/nmea0183ton2k/NMEA0183AIStoNMEA2000.h
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@@ -0,0 +1,278 @@
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/*
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This code is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This code is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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//imported from https://github.com/AK-Homberger/NMEA2000-AIS-Gateway/tree/main/MyAISToN2k
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#include <Arduino.h>
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#include "ais_decoder.h"
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#include "default_sentence_parser.h"
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#include "NMEA0183DataToN2K.h"
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#include "NMEA0183.h"
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const double pi = 3.1415926535897932384626433832795;
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const double knToms = 1852.0 / 3600.0;
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const double degToRad = pi / 180.0;
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const double nmTom = 1.852 * 1000;
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uint16_t DaysSince1970 = 0;
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class MyAisDecoder : public AIS::AisDecoder
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{
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private:
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NMEA0183DataToN2K::N2kSender sender;
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void send(const tN2kMsg &msg){
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(*sender)(msg);
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}
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AIS::DefaultSentenceParser parser;
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public:
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MyAisDecoder(NMEA0183DataToN2K::N2kSender sender)
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{
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this->sender=sender;
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}
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protected:
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virtual void onType123(unsigned int _uMsgType, unsigned int _uMmsi, unsigned int _uNavstatus,
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int _iRot, unsigned int _uSog, bool _bPosAccuracy,
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long _iPosLon, long _iPosLat, int _iCog, int _iHeading, int _Repeat, bool _Raim,
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unsigned int _timestamp, unsigned int _maneuver_i) override {
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// Serial.println("123");
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tN2kMsg N2kMsg;
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// PGN129038
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SetN2kAISClassAPosition(N2kMsg, _uMsgType, (tN2kAISRepeat)_Repeat, _uMmsi,
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_iPosLat / 600000.0, _iPosLon / 600000.0,
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_bPosAccuracy, _Raim, _timestamp,
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_iCog * degToRad, _uSog * knToms / 10.0,
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_iHeading * degToRad, _iRot, (tN2kAISNavStatus)_uNavstatus);
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send(N2kMsg);
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}
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virtual void onType411(unsigned int , unsigned int , unsigned int , unsigned int , unsigned int , unsigned int , unsigned int , unsigned int , bool , int , int ) override {
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//Serial.println("411");
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}
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virtual void onType5(unsigned int _uMsgType, unsigned int _uMmsi, unsigned int _uImo, const std::string &_strCallsign,
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const std::string &_strName,
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unsigned int _uType, unsigned int _uToBow, unsigned int _uToStern,
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unsigned int _uToPort, unsigned int _uToStarboard, unsigned int _uFixType,
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unsigned int _uEtaMonth, unsigned int _uEtaDay, unsigned int _uEtaHour,
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unsigned int _uEtaMinute, unsigned int _uDraught,
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const std::string &_strDestination, unsigned int _ais_version,
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unsigned int _repeat, bool _dte) override {
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// Serial.println("5");
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// Necessary due to conflict with TimeLib.h (redefinition of tmElements_t)
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time_t t = DaysSince1970 * (24UL * 3600UL);
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tmElements_t tm;
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tNMEA0183Msg::breakTime(t, tm);
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//tNMEA0183Msg::SetYear(tm, 2020);
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tNMEA0183Msg::SetMonth(tm, _uEtaMonth);
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tNMEA0183Msg::SetDay(tm, _uEtaDay);
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tNMEA0183Msg::SetHour(tm, 0);
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tNMEA0183Msg::SetMin(tm, 0);
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tNMEA0183Msg::SetSec(tm, 0);
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uint16_t eta_days = tNMEA0183Msg::makeTime(tm) / (24UL * 3600UL);
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tN2kMsg N2kMsg;
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char CS[30];
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char Name[30];
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char Dest[30];
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strncpy(CS, _strCallsign.c_str(), sizeof(CS));
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strncpy(Name, _strName.c_str(), sizeof(Name));
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strncpy(Dest, _strDestination.c_str(), sizeof(Dest));
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// PGN129794
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SetN2kAISClassAStatic(N2kMsg, _uMsgType, (tN2kAISRepeat) _repeat, _uMmsi,
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_uImo, CS, Name, _uType, _uToBow + _uToStern,
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_uToPort + _uToStarboard, _uToStarboard, _uToBow, eta_days,
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(_uEtaHour * 3600) + (_uEtaMinute * 60), _uDraught / 10.0, Dest,
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(tN2kAISVersion) _ais_version, (tN2kGNSStype) _uFixType,
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(tN2kAISDTE) _dte, (tN2kAISTranceiverInfo) _ais_version);
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send(N2kMsg);
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}
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virtual void onType9(unsigned int , unsigned int , bool , int , int , int , unsigned int ) override {
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//Serial.println("9");
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}
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virtual void onType14(unsigned int _repeat, unsigned int _uMmsi,
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const std::string &_strText, int _iPayloadSizeBits) override {
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tN2kMsg N2kMsg;
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char Text[162];
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strncpy(Text, _strText.c_str(), sizeof(Text));
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N2kMsg.SetPGN(129802UL);
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N2kMsg.Priority = 4;
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N2kMsg.Destination = 255; // Redundant, PGN129802 is broadcast by default.
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N2kMsg.AddByte((_repeat & 0x03) << 6 | (14 & 0x3f));
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N2kMsg.Add4ByteUInt(_uMmsi);
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N2kMsg.AddByte(0);
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if (strlen(Text) == 0) {
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N2kMsg.AddByte(0x03); N2kMsg.AddByte(0x01); N2kMsg.AddByte(0x00);
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} else {
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N2kMsg.AddByte(strlen(Text) + 2); N2kMsg.AddByte(0x01);
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for (int i = 0; i < strlen(Text); i++)
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N2kMsg.AddByte(Text[i]);
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}
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send(N2kMsg);
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}
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virtual void onType18(unsigned int _uMsgType, unsigned int _uMmsi, unsigned int _uSog, bool _bPosAccuracy,
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long _iPosLon, long _iPosLat, int _iCog, int _iHeading, bool _raim, unsigned int _repeat,
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bool _unit, bool _diplay, bool _dsc, bool _band, bool _msg22, bool _assigned,
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unsigned int _timestamp, bool _state ) override {
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//Serial.println("18");
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tN2kMsg N2kMsg;
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// PGN129039
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SetN2kAISClassBPosition(N2kMsg, _uMsgType, (tN2kAISRepeat) _repeat, _uMmsi,
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_iPosLat / 600000.0, _iPosLon / 600000.0, _bPosAccuracy, _raim,
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_timestamp, _iCog * degToRad, _uSog * knToms / 10.0,
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_iHeading * degToRad, (tN2kAISUnit) _unit,
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_diplay, _dsc, _band, _msg22, (tN2kAISMode) _assigned, _state);
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send(N2kMsg);
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}
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virtual void onType19(unsigned int _uMmsi, unsigned int _uSog, bool _bPosAccuracy, int _iPosLon, int _iPosLat,
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int _iCog, int _iHeading, const std::string &_strName, unsigned int _uType,
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unsigned int _uToBow, unsigned int _uToStern, unsigned int _uToPort,
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unsigned int _uToStarboard, unsigned int _timestamp, unsigned int _fixtype,
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bool _dte, bool _assigned, unsigned int _repeat, bool _raim) override {
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//Serial.println("19");
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tN2kMsg N2kMsg;
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// PGN129040
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char Name[21] = "";
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strncpy(Name, _strName.c_str(), sizeof(Name));
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N2kMsg.SetPGN(129040UL);
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N2kMsg.Priority = 4;
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N2kMsg.AddByte((_repeat & 0x03) << 6 | (19 & 0x3f));
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N2kMsg.Add4ByteUInt(_uMmsi);
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N2kMsg.Add4ByteDouble(_iPosLon / 600000.0, 1e-07);
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N2kMsg.Add4ByteDouble(_iPosLat / 600000.0, 1e-07);
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N2kMsg.AddByte((_timestamp & 0x3f) << 2 | (_raim & 0x01) << 1 | (_bPosAccuracy & 0x01));
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N2kMsg.Add2ByteUDouble(_iCog * degToRad, 1e-04);
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N2kMsg.Add2ByteUDouble(_uSog * knToms / 10.0, 0.01);
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N2kMsg.AddByte(0xff); // Regional Application
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N2kMsg.AddByte(0xff); // Regional Application
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N2kMsg.AddByte(_uType );
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N2kMsg.Add2ByteUDouble(_iHeading * degToRad, 1e-04);
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N2kMsg.AddByte(_fixtype << 4);
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N2kMsg.Add2ByteDouble(_uToBow + _uToStern, 0.1);
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N2kMsg.Add2ByteDouble(_uToPort + _uToStarboard, 0.1);
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N2kMsg.Add2ByteDouble(_uToStarboard, 0.1);
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N2kMsg.Add2ByteDouble(_uToBow, 0.1);
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N2kMsg.AddStr(Name, 20);
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N2kMsg.AddByte((_dte & 0x01) | (_assigned & 0x01) << 1) ;
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N2kMsg.AddByte(0);
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send(N2kMsg);
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}
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virtual void onType21(unsigned int , unsigned int , const std::string &, bool , int , int , unsigned int , unsigned int , unsigned int , unsigned int ) override {
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//Serial.println("21");
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}
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virtual void onType24A(unsigned int _uMsgType, unsigned int _repeat, unsigned int _uMmsi,
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const std::string &_strName) override {
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//Serial.println("24A");
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tN2kMsg N2kMsg;
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char Name[30];
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strncpy(Name, _strName.c_str(), sizeof(Name));
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// PGN129809
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SetN2kAISClassBStaticPartA(N2kMsg, _uMsgType, (tN2kAISRepeat) _repeat, _uMmsi, Name);
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send(N2kMsg);
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}
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virtual void onType24B(unsigned int _uMsgType, unsigned int _repeat, unsigned int _uMmsi,
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const std::string &_strCallsign, unsigned int _uType,
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unsigned int _uToBow, unsigned int _uToStern, unsigned int _uToPort,
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unsigned int _uToStarboard, const std::string &_strVendor) override {
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// Serial.println("24B");
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tN2kMsg N2kMsg;
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char CS[30];
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char Vendor[30];
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strncpy(CS, _strCallsign.c_str(), sizeof(CS));
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strncpy(Vendor, _strVendor.c_str(), sizeof(Vendor));
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// PGN129810
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SetN2kAISClassBStaticPartB(N2kMsg, _uMsgType, (tN2kAISRepeat)_repeat, _uMmsi,
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_uType, Vendor, CS, _uToBow + _uToStern, _uToPort + _uToStarboard,
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_uToStarboard, _uToBow, _uMmsi);
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send(N2kMsg);
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}
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virtual void onType27(unsigned int , unsigned int , unsigned int , bool , int , int , int ) override {
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//Serial.println("27");
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}
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virtual void onSentence(const AIS::StringRef &_Stc) override {
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//Serial.printf("Sentence: %s\n", _Stc);
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}
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virtual void onMessage(const AIS::StringRef &, const AIS::StringRef &, const AIS::StringRef &) override {}
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virtual void onNotDecoded(const AIS::StringRef &, int ) override {}
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virtual void onDecodeError(const AIS::StringRef &_strMessage, const std::string &_strError) override {
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std::string msg(_strMessage.data(), _strMessage.size());
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AIS::stripTrailingWhitespace(msg);
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Serial.printf("%s [%s]\n", _strError.c_str(), msg.c_str());
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}
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virtual void onParseError(const AIS::StringRef &_strMessage, const std::string &_strError) override {
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std::string msg(_strMessage.data(), _strMessage.size());
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AIS::stripTrailingWhitespace(msg);
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Serial.printf("%s [%s]\n", _strError.c_str(), msg.c_str());
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}
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public:
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void handleMessage(const char * msg){
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int len=strlen(msg);
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char buffer[len+1];
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memcpy(buffer,msg,len);
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strcat(buffer,"\n");
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size_t i=0;
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do {
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i=decodeMsg(buffer,len+1,i,parser);
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} while (i != 0) ;
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}
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};
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@@ -4,6 +4,7 @@
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#include "ConverterList.h"
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#include <map>
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#include <strings.h>
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#include "NMEA0183AIStoNMEA2000.h"
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NMEA0183DataToN2K::NMEA0183DataToN2K(GwLog *logger, GwBoatData *boatData,N2kSender callback)
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{
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this->sender = callback;
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@@ -44,7 +45,7 @@ class SNMEA0183Msg : public tNMEA0183Msg{
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class NMEA0183DataToN2KFunctions : public NMEA0183DataToN2K
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{
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private:
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double dummy = 0;
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MyAisDecoder *aisDecoder=NULL;
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ConverterList<NMEA0183DataToN2KFunctions, SNMEA0183Msg> converters;
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std::map<unsigned long,unsigned long> lastSends;
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class WaypointNumber{
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@@ -220,7 +221,9 @@ private:
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}
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}
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void convertAIVDX(const SNMEA0183Msg &msg){
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aisDecoder->handleMessage(msg.line);
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}
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//shortcut for lambda converters
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#define CVL [](const SNMEA0183Msg &msg, NMEA0183DataToN2KFunctions *p) -> void
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void registerConverters()
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@@ -230,6 +233,11 @@ private:
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converters.registerConverter(
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126992UL,129025UL,129026UL,127258UL,
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String(F("RMC")), &NMEA0183DataToN2KFunctions::convertRMC);
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unsigned long aispgns[7]{129810UL,129809UL,129040UL,129039UL,129802UL,129794UL,129038UL};
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converters.registerConverter(7,&aispgns[0],
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String(F("AIVDM")),&NMEA0183DataToN2KFunctions::convertAIVDX);
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converters.registerConverter(7,&aispgns[0],
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String(F("AIVDO")),&NMEA0183DataToN2KFunctions::convertAIVDX);
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}
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public:
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@@ -268,6 +276,7 @@ public:
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NMEA0183DataToN2KFunctions(GwLog *logger, GwBoatData *boatData, N2kSender callback)
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: NMEA0183DataToN2K(logger, boatData, callback)
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{
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aisDecoder= new MyAisDecoder(this->sender);
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registerConverters();
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LOG_DEBUG(GwLog::LOG, "NMEA0183DataToN2KFunctions: registered %d converters", converters.numConverters());
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}
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