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esp32-nmea2000-obp60
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NMEA0183 AIS to N2K, corrected some encodings

This commit is contained in:
andreas 2021-11-02 19:29:40 +01:00
parent 3b437c8476
commit b84e47d16a
5 changed files with 73 additions and 33 deletions
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11
lib/aisparser/ais_decoder.cpp
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@ -842,11 +842,18 @@ bool AisDecoder::checkTalkerId(const StringRef &_strTalkerId)
Decode next sentence (starts reading from input buffer with the specified offset; returns the number of bytes processed, or 0 when no more messages can be decoded).
Has to be called until it returns 0, to ensure that any buffered multi-line strings are backed up properly.
*/
size_t AisDecoder::decodeMsg(const char *_pNmeaBuffer, size_t _uBufferSize, size_t _uOffset, const SentenceParser &_parser)
size_t AisDecoder::decodeMsg(const char *_pNmeaBuffer, size_t _uBufferSize, size_t _uOffset,
const SentenceParser &_parser, bool treatAsComplete)
{
// process and decode AIS strings
StringRef strLine;
size_t n = getLine(strLine, _pNmeaBuffer, _uBufferSize, _uOffset);
size_t n = 0;
if (treatAsComplete){
strLine=StringRef(_pNmeaBuffer+_uOffset,_uBufferSize);
}
else{
n=getLine(strLine, _pNmeaBuffer, _uBufferSize, _uOffset);
}
if (strLine.size() > 2) // ignore empty lines
{
// clear user data

3
lib/aisparser/ais_decoder.h
View File

@ -234,7 +234,8 @@ namespace AIS
Decode next sentence (starts reading from input buffer with the specified offset; returns the number of bytes processed, or 0 when no more messages can be decoded).
Has to be called until it returns 0, to ensure that any buffered multi-line strings are backed up properly.
*/
size_t decodeMsg(const char *_pNmeaBuffer, size_t _uBufferSize, size_t _uOffset, const SentenceParser &_parser);
size_t decodeMsg(const char *_pNmeaBuffer, size_t _uBufferSize, size_t _uOffset,
const SentenceParser &_parser, bool treatAsComplete=false);
/// returns the total number of messages processed
uint64_t getTotalMessageCount() const {return m_uTotalMessages;}

81
lib/nmea0183ton2k/NMEA0183AIStoNMEA2000.h
View File

@ -18,6 +18,7 @@
#include "default_sentence_parser.h"
#include "NMEA0183DataToN2K.h"
#include "NMEA0183.h"
#include "GwLog.h"
const double pi = 3.1415926535897932384626433832795;
const double knToms = 1852.0 / 3600.0;
@ -30,17 +31,46 @@ class MyAisDecoder : public AIS::AisDecoder
{
private:
NMEA0183DataToN2K::N2kSender sender;
GwLog *logger;
void send(const tN2kMsg &msg){
(*sender)(msg);
}
AIS::DefaultSentenceParser parser;
public:
MyAisDecoder(NMEA0183DataToN2K::N2kSender sender)
MyAisDecoder(GwLog *logger,NMEA0183DataToN2K::N2kSender sender)
{
this->logger=logger;
this->sender=sender;
}
protected:
double decodeRot(int iRot){
//see https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_5_static_and_voyage_related_data
//and https://opencpn.org/wiki/dokuwiki/doku.php?id=opencpn:supplementary_software:nmea2000
double rot=N2kDoubleNA;
if (iRot == 127) rot=10;
else if (iRot == -127) rot=-10;
else if (iRot == 0) rot=0;
else if ( 1<= iRot && iRot <= 126 ) rot= iRot *iRot / 22.401289;
else if ( iRot >= -126 && iRot <= -1) rot= iRot * iRot / -22.401289 ;
//rot now in deg/minute
rot=rot* degToRad / 60.0; //N"K expects rot in radian/s
return rot;
}
double decodeCog(int iCog){
double cog = N2kDoubleNA;
if (iCog >= 0 && iCog < 3600){
cog= iCog/10.0 * degToRad;
}
return cog;
}
double decodeHeading(int iHeading){
double heading=N2kDoubleNA;
if ( iHeading >=0 && iHeading <=359){
heading=iHeading *degToRad;
}
return heading;
}
virtual void onType123(unsigned int _uMsgType, unsigned int _uMmsi, unsigned int _uNavstatus,
int _iRot, unsigned int _uSog, bool _bPosAccuracy,
long _iPosLon, long _iPosLat, int _iCog, int _iHeading, int _Repeat, bool _Raim,
@ -54,8 +84,8 @@ class MyAisDecoder : public AIS::AisDecoder
SetN2kAISClassAPosition(N2kMsg, _uMsgType, (tN2kAISRepeat)_Repeat, _uMmsi,
_iPosLat / 600000.0, _iPosLon / 600000.0,
_bPosAccuracy, _Raim, _timestamp,
_iCog * degToRad, _uSog * knToms / 10.0,
_iHeading * degToRad, _iRot, (tN2kAISNavStatus)_uNavstatus);
decodeCog(_iCog) , _uSog * knToms / 10.0,
decodeHeading(_iHeading), decodeRot(_iRot), (tN2kAISNavStatus)_uNavstatus);
send(N2kMsg);
}
@ -96,9 +126,12 @@ class MyAisDecoder : public AIS::AisDecoder
char Name[30];
char Dest[30];
strncpy(CS, _strCallsign.c_str(), sizeof(CS));
strncpy(Name, _strName.c_str(), sizeof(Name));
strncpy(Dest, _strDestination.c_str(), sizeof(Dest));
strncpy(CS, _strCallsign.c_str(), sizeof(CS)-1);
CS[29]=0;
strncpy(Name, _strName.c_str(), sizeof(Name)-1);
Name[29]=0;
strncpy(Dest, _strDestination.c_str(), sizeof(Dest)-1);
Dest[29]=0;
// PGN129794
SetN2kAISClassAStatic(N2kMsg, _uMsgType, (tN2kAISRepeat) _repeat, _uMmsi,
@ -120,7 +153,8 @@ class MyAisDecoder : public AIS::AisDecoder
tN2kMsg N2kMsg;
char Text[162];
strncpy(Text, _strText.c_str(), sizeof(Text));
strncpy(Text, _strText.c_str(), sizeof(Text)-1);
Text[161]=0;
N2kMsg.SetPGN(129802UL);
N2kMsg.Priority = 4;
@ -151,8 +185,8 @@ class MyAisDecoder : public AIS::AisDecoder
// PGN129039
SetN2kAISClassBPosition(N2kMsg, _uMsgType, (tN2kAISRepeat) _repeat, _uMmsi,
_iPosLat / 600000.0, _iPosLon / 600000.0, _bPosAccuracy, _raim,
_timestamp, _iCog * degToRad, _uSog * knToms / 10.0,
_iHeading * degToRad, (tN2kAISUnit) _unit,
_timestamp, decodeCog(_iCog), _uSog * knToms / 10.0,
decodeHeading(_iHeading), (tN2kAISUnit) _unit,
_diplay, _dsc, _band, _msg22, (tN2kAISMode) _assigned, _state);
send(N2kMsg);
@ -170,7 +204,8 @@ class MyAisDecoder : public AIS::AisDecoder
// PGN129040
char Name[21] = "";
strncpy(Name, _strName.c_str(), sizeof(Name));
strncpy(Name, _strName.c_str(), sizeof(Name)-1);
Name[20]=0;
N2kMsg.SetPGN(129040UL);
N2kMsg.Priority = 4;
@ -179,12 +214,12 @@ class MyAisDecoder : public AIS::AisDecoder
N2kMsg.Add4ByteDouble(_iPosLon / 600000.0, 1e-07);
N2kMsg.Add4ByteDouble(_iPosLat / 600000.0, 1e-07);
N2kMsg.AddByte((_timestamp & 0x3f) << 2 | (_raim & 0x01) << 1 | (_bPosAccuracy & 0x01));
N2kMsg.Add2ByteUDouble(_iCog * degToRad, 1e-04);
N2kMsg.Add2ByteUDouble(decodeCog(_iCog), 1e-04);
N2kMsg.Add2ByteUDouble(_uSog * knToms / 10.0, 0.01);
N2kMsg.AddByte(0xff); // Regional Application
N2kMsg.AddByte(0xff); // Regional Application
N2kMsg.AddByte(_uType );
N2kMsg.Add2ByteUDouble(_iHeading * degToRad, 1e-04);
N2kMsg.Add2ByteUDouble(decodeHeading(_iHeading), 1e-04);
N2kMsg.AddByte(_fixtype << 4);
N2kMsg.Add2ByteDouble(_uToBow + _uToStern, 0.1);
N2kMsg.Add2ByteDouble(_uToPort + _uToStarboard, 0.1);
@ -208,7 +243,8 @@ class MyAisDecoder : public AIS::AisDecoder
tN2kMsg N2kMsg;
char Name[30];
strncpy(Name, _strName.c_str(), sizeof(Name));
strncpy(Name, _strName.c_str(), sizeof(Name)-1);
Name[29]=0;
// PGN129809
SetN2kAISClassBStaticPartA(N2kMsg, _uMsgType, (tN2kAISRepeat) _repeat, _uMmsi, Name);
@ -228,8 +264,10 @@ class MyAisDecoder : public AIS::AisDecoder
char CS[30];
char Vendor[30];
strncpy(CS, _strCallsign.c_str(), sizeof(CS));
strncpy(Vendor, _strVendor.c_str(), sizeof(Vendor));
strncpy(CS, _strCallsign.c_str(), sizeof(CS)-1);
CS[29]=0;
strncpy(Vendor, _strVendor.c_str(), sizeof(Vendor)-1);
Vendor[29]=0;
// PGN129810
SetN2kAISClassBStaticPartB(N2kMsg, _uMsgType, (tN2kAISRepeat)_repeat, _uMmsi,
@ -255,24 +293,17 @@ class MyAisDecoder : public AIS::AisDecoder
std::string msg(_strMessage.data(), _strMessage.size());
AIS::stripTrailingWhitespace(msg);
Serial.printf("%s [%s]\n", _strError.c_str(), msg.c_str());
LOG_DEBUG(GwLog::ERROR,"%s [%s]\n", _strError.c_str(), msg.c_str());
}
virtual void onParseError(const AIS::StringRef &_strMessage, const std::string &_strError) override {
std::string msg(_strMessage.data(), _strMessage.size());
AIS::stripTrailingWhitespace(msg);
Serial.printf("%s [%s]\n", _strError.c_str(), msg.c_str());
LOG_DEBUG(GwLog::ERROR,"%s [%s]\n", _strError.c_str(), msg.c_str());
}
public:
void handleMessage(const char * msg){
int len=strlen(msg);
char buffer[len+1];
memcpy(buffer,msg,len);
strcat(buffer,"\n");
size_t i=0;
do {
i=decodeMsg(buffer,len+1,i,parser);
} while (i != 0) ;
size_t i=decodeMsg(msg,strlen(msg),0,parser,true);
}
};

7
lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
View File

@ -38,6 +38,7 @@ class SNMEA0183Msg : public tNMEA0183Msg{
if (!isAis) return MessageCode();
char buf[6];
strncpy(buf,line+1,5);
buf[5]=0;
return String(buf);
}
@ -233,7 +234,7 @@ private:
converters.registerConverter(
126992UL,129025UL,129026UL,127258UL,
String(F("RMC")), &NMEA0183DataToN2KFunctions::convertRMC);
unsigned long aispgns[7]{129810UL,129809UL,129040UL,129039UL,129802UL,129794UL,129038UL};
unsigned long *aispgns=new unsigned long[7]{129810UL,129809UL,129040UL,129039UL,129802UL,129794UL,129038UL};
converters.registerConverter(7,&aispgns[0],
String(F("AIVDM")),&NMEA0183DataToN2KFunctions::convertAIVDX);
converters.registerConverter(7,&aispgns[0],
@ -256,7 +257,7 @@ public:
bool rt = converters.handleMessage(code, msg, this);
if (!rt)
{
LOG_DEBUG(GwLog::DEBUG, "NMEA0183DataToN2K[%d] no handler for %s", sourceId, buffer);
LOG_DEBUG(GwLog::DEBUG, "NMEA0183DataToN2K[%d] no handler for (%s) %s", sourceId, code.c_str(), buffer);
}
else{
LOG_DEBUG(GwLog::DEBUG+1, "NMEA0183DataToN2K[%d] handler done ", sourceId);
@ -276,7 +277,7 @@ public:
NMEA0183DataToN2KFunctions(GwLog *logger, GwBoatData *boatData, N2kSender callback)
: NMEA0183DataToN2K(logger, boatData, callback)
{
aisDecoder= new MyAisDecoder(this->sender);
aisDecoder= new MyAisDecoder(logger,this->sender);
registerConverters();
LOG_DEBUG(GwLog::LOG, "NMEA0183DataToN2KFunctions: registered %d converters", converters.numConverters());
}

4
src/main.cpp
View File

@ -14,8 +14,8 @@
#define VERSION "0.3.1"
//#define GW_MESSAGE_DEBUG_ENABLED
//#define FALLBACK_SERIAL
// #define GW_MESSAGE_DEBUG_ENABLED
// #define FALLBACK_SERIAL
const unsigned long HEAP_REPORT_TIME=2000; //set to 0 to disable heap reporting
#include "GwHardware.h"