thooge/esp32-nmea2000-obp60
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allow to configure sendRMC

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andreas
2024-03-03 18:37:38 +01:00
parent e10432dae4
commit 47a2eb52f5
7 changed files with 206 additions and 145 deletions
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41
lib/config/GwConverterConfig.h Normal file
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@@ -0,0 +1,41 @@
/*
(C) Andreas Vogel andreas@wellenvogel.de
This code is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This code 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifndef _GWCONVERTERCONFIG_H
#define _GWCONVERTERCONFIG_H
#include "GWConfig.h"
class GwConverterConfig{
public:
int minXdrInterval=100;
int starboardRudderInstance=0;
int portRudderInstance=-1; //ignore
int min2KInterval=50;
int rmcInterval=1000;
int rmcCheckTime=4000;
void init(GwConfigHandler *config){
minXdrInterval=config->getInt(GwConfigDefinitions::minXdrInterval,100);
starboardRudderInstance=config->getInt(GwConfigDefinitions::stbRudderI,0);
portRudderInstance=config->getInt(GwConfigDefinitions::portRudderI,-1);
min2KInterval=config->getInt(GwConfigDefinitions::min2KInterval,50);
if (min2KInterval < 10)min2KInterval=10;
rmcCheckTime=config->getInt(GwConfigDefinitions::checkRMCt,4000);
if (rmcCheckTime < 1000) rmcCheckTime=1000;
rmcInterval=config->getInt(GwConfigDefinitions::sendRMCi,1000);
if (rmcInterval < 0) rmcInterval=0;
if (rmcInterval > 0 && rmcInterval <100) rmcInterval=100;
}
};
#endif

40
lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
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@@ -29,7 +29,6 @@ private:
MyAisDecoder *aisDecoder=NULL;
ConverterList<NMEA0183DataToN2KFunctions, SNMEA0183Msg> converters;
std::map<String,unsigned long> lastSends;
unsigned long minSendInterval=50;
GwXDRMappings *xdrMappings;
class WaypointNumber{
public:
@@ -92,7 +91,7 @@ private:
return false;
}
bool send(tN2kMsg &msg, int sourceId,String key=""){
return send(msg,key,minSendInterval,sourceId);
return send(msg,key,config.min2KInterval,sourceId);
}
bool updateDouble(GwBoatItem<double> *target,double v, int sourceId){
if (v != NMEA0183DoubleNA){
@@ -304,7 +303,7 @@ private:
LOG_DEBUG(GwLog::DEBUG + 1, "convert RMB");
tRMB rmb;
if (! NMEA0183ParseRMB_nc(msg,rmb)){
LOG_DEBUG(GwLog::DEBUG, "failed to parse RMC %s", msg.line);
LOG_DEBUG(GwLog::DEBUG, "failed to parse RMB %s", msg.line);
return;
}
tN2kMsg n2kMsg;
@@ -359,6 +358,7 @@ private:
LOG_DEBUG(GwLog::DEBUG, "invalid status %c for RMC %s",status, msg.line);
return;
}
lastRmc=millis(); //we received an RMC that is not from us
tN2kMsg n2kMsg;
if (
UD(GPST) &&
@@ -666,21 +666,33 @@ private:
void convertDBT(const SNMEA0183Msg &msg){
return convertDBKx(msg,DBT);
}
#define validInstance(name) (name >= 0 && name <= 253)
void convertRSA(const SNMEA0183Msg &msg){
double RPOS=NMEA0183DoubleNA;
double PRPOS=NMEA0183DoubleNA;
if (msg.FieldCount() < 4)
{
LOG_DEBUG(GwLog::DEBUG, "failed to parse RSA %s", msg.line);
return;
}
tN2kMsg n2kMsg;
if (msg.FieldLen(0)>0){
if (msg.Field(1)[0] != 'A') return;
RPOS=degToRad*atof(msg.Field(0));
tN2kMsg n2kMsg;
if (! UD(RPOS)) return;
SetN2kRudder(n2kMsg,RPOS);
send(n2kMsg,msg.sourceId);
if (msg.Field(1)[0] == 'A'){
RPOS=degToRad*atof(msg.Field(0));
if (UD(RPOS) && validInstance(config.starboardRudderInstance)) {
SetN2kRudder(n2kMsg,RPOS,config.starboardRudderInstance);
send(n2kMsg,msg.sourceId,"127245S");
}
}
}
if (msg.FieldLen(2)>0){
if (msg.Field(3)[0] == 'A'){
PRPOS=degToRad*atof(msg.Field(2));
if (UD(PRPOS) && validInstance(config.portRudderInstance)){
SetN2kRudder(n2kMsg,PRPOS,config.portRudderInstance);
send(n2kMsg,msg.sourceId,"127245P");
}
}
}
}
@@ -1061,10 +1073,10 @@ public:
NMEA0183DataToN2KFunctions(GwLog *logger, GwBoatData *boatData, N2kSender callback,
GwXDRMappings *xdrMappings,
unsigned long minSendInterval)
const GwConverterConfig &cfg)
: NMEA0183DataToN2K(logger, boatData, callback)
{
this->minSendInterval=minSendInterval;
this->config=cfg;
this->xdrMappings=xdrMappings;
aisDecoder= new MyAisDecoder(logger,this->sender);
registerConverters();
@@ -1074,7 +1086,7 @@ public:
NMEA0183DataToN2K* NMEA0183DataToN2K::create(GwLog *logger,GwBoatData *boatData,N2kSender callback,
GwXDRMappings *xdrMappings,
unsigned long minSendInterval){
return new NMEA0183DataToN2KFunctions(logger, boatData,callback,xdrMappings,minSendInterval);
const GwConverterConfig &config){
return new NMEA0183DataToN2KFunctions(logger, boatData,callback,xdrMappings,config);
}

6
lib/nmea0183ton2k/NMEA0183DataToN2K.h
View File

@@ -4,6 +4,7 @@
#include "GwBoatData.h"
#include "N2kMessages.h"
#include "GwXDRMappings.h"
#include "GwConverterConfig.h"
class NMEA0183DataToN2K{
public:
@@ -12,14 +13,17 @@ class NMEA0183DataToN2K{
GwLog * logger;
GwBoatData *boatData;
N2kSender sender;
GwConverterConfig config;
unsigned long lastRmc=millis();
public:
NMEA0183DataToN2K(GwLog *logger,GwBoatData *boatData,N2kSender callback);
virtual bool parseAndSend(const char *buffer, int sourceId)=0;
virtual unsigned long *handledPgns()=0;
virtual int numConverters()=0;
virtual String handledKeys()=0;
unsigned long getLastRmc()const {return lastRmc; }
static NMEA0183DataToN2K* create(GwLog *logger,GwBoatData *boatData,N2kSender callback,
GwXDRMappings *xdrMappings,
unsigned long minSendInterval);
const GwConverterConfig &config);
};
#endif

52
lib/nmea2kto0183/N2kDataToNMEA0183.cpp
View File

@@ -43,7 +43,7 @@ N2kDataToNMEA0183::N2kDataToNMEA0183(GwLog * logger, GwBoatData *boatData,
//*****************************************************************************
void N2kDataToNMEA0183::loop() {
void N2kDataToNMEA0183::loop(unsigned long) {
}
//*****************************************************************************
@@ -65,10 +65,10 @@ private:
GwXDRMappings *xdrMappings;
ConverterList<N2kToNMEA0183Functions,tN2kMsg> converters;
std::map<String,unsigned long> lastSendTransducers;
static const unsigned long RMCPeriod = 500;
tNMEA0183Msg xdrMessage;
bool xdrOpened=false;
int xdrCount=0;
unsigned long lastRmcSent=0;
bool addToXdr(GwXDRFoundMapping::XdrEntry entry){
auto it=lastSendTransducers.find(entry.transducer);
@@ -133,9 +133,6 @@ private:
return boatData->update((double)value,sourceId,mapping);
}
unsigned long LastPosSend;
unsigned long NextRMCSend;
unsigned long lastLoopTime;
virtual unsigned long *handledPgns()
{
@@ -165,7 +162,6 @@ private:
{
return converters.numConverters();
}
void SetNextRMCSend() { NextRMCSend = millis() + RMCPeriod; }
//*************** the converters ***********************
void HandleHeading(const tN2kMsg &N2kMsg)
@@ -545,11 +541,9 @@ private:
void SendRMC()
{
long now = millis();
if (NextRMCSend <= millis() &&
boatData->LAT->isValid(now) &&
boatData->LAT->getLastSource() == sourceId
)
if (boatData->LAT->isValid(now) && boatData->LON->isValid(now))
{
lastRmcSent=now;
tNMEA0183Msg NMEA0183Msg;
if (NMEA0183SetRMC(NMEA0183Msg,
@@ -564,7 +558,6 @@ private:
{
SendMessage(NMEA0183Msg);
}
SetNextRMCSend();
}
}
@@ -610,10 +603,8 @@ private:
if (ParseN2kRudder(N2kMsg, RudderPosition, Instance, RudderDirectionOrder, AngleOrder))
{
bool main=false;
if (Instance == config.starboardRudderInstance){
updateDouble(boatData->RPOS, RudderPosition);
main=true;
}
else if (Instance == config.portRudderInstance){
updateDouble(boatData->PRPOS, RudderPosition);
@@ -626,18 +617,24 @@ private:
if (!NMEA0183Msg.Init("RSA", talkerId))
return;
if (main){
if (!NMEA0183Msg.AddDoubleField(formatWind(RudderPosition)))return;
auto rpos=boatData->RPOS;
if (rpos->isValid()){
if (!NMEA0183Msg.AddDoubleField(formatWind(rpos->getData())))return;
if (!NMEA0183Msg.AddStrField("A"))return;
if (!NMEA0183Msg.AddDoubleField(0.0))return;
if (!NMEA0183Msg.AddStrField("V"))return;
}
else{
if (!NMEA0183Msg.AddDoubleField(0.0))return;
if (!NMEA0183Msg.AddStrField("V"))return;
if (!NMEA0183Msg.AddDoubleField(formatWind(RudderPosition)))return;
}
auto prpos=boatData->PRPOS;
if (prpos->isValid()){
if (!NMEA0183Msg.AddDoubleField(formatWind(prpos->getData())))return;
if (!NMEA0183Msg.AddStrField("A"))return;
}
else{
if (!NMEA0183Msg.AddDoubleField(0.0))return;
if (!NMEA0183Msg.AddStrField("V"))return;
}
SendMessage(NMEA0183Msg);
}
}
@@ -1517,34 +1514,29 @@ private:
public:
N2kToNMEA0183Functions(GwLog *logger, GwBoatData *boatData,
SendNMEA0183MessageCallback callback,
String talkerId, GwXDRMappings *xdrMappings, const Config &cfg)
String talkerId, GwXDRMappings *xdrMappings, const GwConverterConfig &cfg)
: N2kDataToNMEA0183(logger, boatData, callback,talkerId)
{
LastPosSend = 0;
lastLoopTime = 0;
NextRMCSend = millis() + RMCPeriod;
this->logger = logger;
this->boatData = boatData;
this->xdrMappings=xdrMappings;
this->config=cfg;
registerConverters();
}
virtual void loop()
virtual void loop(unsigned long lastExtRmc) override
{
N2kDataToNMEA0183::loop();
N2kDataToNMEA0183::loop(lastExtRmc);
unsigned long now = millis();
if (now < (lastLoopTime + 100))
return;
lastLoopTime = now;
SendRMC();
if (config.rmcInterval > 0 && (lastExtRmc + config.rmcCheckTime) <= now && (lastRmcSent + config.rmcInterval) <= now){
SendRMC();
}
}
};
N2kDataToNMEA0183* N2kDataToNMEA0183::create(GwLog *logger, GwBoatData *boatData,
SendNMEA0183MessageCallback callback, String talkerId, GwXDRMappings *xdrMappings,
const N2kDataToNMEA0183::Config &cfg){
const GwConverterConfig &cfg){
LOG_DEBUG(GwLog::LOG,"creating N2kToNMEA0183");
return new N2kToNMEA0183Functions(logger,boatData,callback, talkerId,xdrMappings,cfg);
}

19
lib/nmea2kto0183/N2kDataToNMEA0183.h
View File

@@ -26,9 +26,10 @@ OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#include <NMEA0183.h>
#include <NMEA2000.h>
#include <GwLog.h>
#include <GwBoatData.h>
#include <GwXDRMappings.h>
#include "GwLog.h"
#include "GwBoatData.h"
#include "GwXDRMappings.h"
#include "GwConverterConfig.h"
//------------------------------------------------------------------------------
class GwJsonDocument;
@@ -36,14 +37,8 @@ class N2kDataToNMEA0183
{
public:
typedef std::function<void(const tNMEA0183Msg &NMEA0183Msg,int id)> SendNMEA0183MessageCallback;
class Config{
public:
int minXdrInterval=100;
int starboardRudderInstance=0;
int portRudderInstance=-1; //ignore
};
protected:
Config config;
GwConverterConfig config;
GwLog *logger;
GwBoatData *boatData;
int sourceId=0;
@@ -55,9 +50,9 @@ protected:
public:
static N2kDataToNMEA0183* create(GwLog *logger, GwBoatData *boatData, SendNMEA0183MessageCallback callback,
String talkerId, GwXDRMappings *xdrMappings,const Config &cfg);
String talkerId, GwXDRMappings *xdrMappings,const GwConverterConfig &cfg);
virtual void HandleMsg(const tN2kMsg &N2kMsg, int sourceId) = 0;
virtual void loop();
virtual void loop(unsigned long lastRmc);
virtual ~N2kDataToNMEA0183(){}
virtual unsigned long* handledPgns()=0;
virtual int numPgns()=0;