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esp32-nmea2000-obp60
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convert n2k to RMB

This commit is contained in:
wellenvogel 2021-11-18 22:46:16 +01:00
parent aa0d22aab3
commit c6c33fa3dd
2 changed files with 78 additions and 0 deletions
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doc/Conversions.odt
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78
lib/nmea2kto0183/N2kDataToNMEA0183.cpp
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@ -1075,6 +1075,83 @@ private:
SendMessage(nmeamsg); SendMessage(nmeamsg);
} }
void HandleNavigation(const tN2kMsg &msg){
unsigned char SID=0;
double DistanceToWaypoint=N2kDoubleNA;
tN2kHeadingReference BearingReference;
bool PerpendicularCrossed=false;
bool ArrivalCircleEntered=false;
tN2kDistanceCalculationType CalculationType;
double ETATime=N2kDoubleNA;
int16_t ETADate=0;
double BearingOriginToDestinationWaypoint=N2kDoubleNA;
double BearingPositionToDestinationWaypoint=N2kDoubleNA;
uint8_t OriginWaypointNumber;
uint8_t DestinationWaypointNumber;
double DestinationLatitude=N2kDoubleNA;
double DestinationLongitude=N2kDoubleNA;
double WaypointClosingVelocity=N2kDoubleNA;
if (! ParseN2kNavigationInfo(msg,SID,DistanceToWaypoint,BearingReference,
PerpendicularCrossed, ArrivalCircleEntered,CalculationType,
ETATime, ETADate, BearingOriginToDestinationWaypoint, BearingPositionToDestinationWaypoint,
OriginWaypointNumber, DestinationWaypointNumber,
DestinationLatitude, DestinationLongitude,WaypointClosingVelocity)){
LOG_DEBUG(GwLog::DEBUG,"unable to parse PGN %d",msg.PGN);
return;
}
if (CalculationType != N2kdct_GreatCircle){
LOG_DEBUG(GwLog::DEBUG,"can only handle %d with great circle type",msg.PGN);
return;
}
if (BearingReference != N2khr_true && BearingReference != N2khr_magnetic){
LOG_DEBUG(GwLog::DEBUG,"invalid bearing ref %d for %d ",(int)BearingReference, msg.PGN);
return;
}
if (BearingReference == N2khr_magnetic){
if (! boatData->Variation->isValid()){
LOG_DEBUG(GwLog::DEBUG,"missing variation to compute true heading for %d ", msg.PGN);
return;
}
BearingPositionToDestinationWaypoint-=boatData->Variation->getData();
}
if (! updateDouble(boatData->DTW,DistanceToWaypoint)) return;
if (! updateDouble(boatData->BTW,BearingPositionToDestinationWaypoint)) return;
if (! updateDouble(boatData->WPLatitude,DestinationLatitude)) return;
if (! updateDouble(boatData->WPLongitude,DestinationLongitude)) return;
tNMEA0183Msg nmeaMsg;
if (! nmeaMsg.Init("RMB",talkerId)) return;
if (! nmeaMsg.AddStrField("A")) return;
const char *dir="L";
double xte=boatData->XTE->getDataWithDefault(NMEA0183DoubleNA);
if (xte != NMEA0183DoubleNA){
if (xte < 0){
xte=-xte;
dir="R";
}
xte=mtr2nm(xte);
if (xte > 9.99) xte=9.99;
}
if (! nmeaMsg.AddDoubleField(xte,1.0,"%.2f",dir)) return;
//TODO: handle waypoint names
if (! nmeaMsg.AddUInt32Field(OriginWaypointNumber)) return;
if (! nmeaMsg.AddUInt32Field(DestinationWaypointNumber)) return;
if (! nmeaMsg.AddLatitudeField(DestinationLatitude)) return;
if (! nmeaMsg.AddLongitudeField(DestinationLongitude)) return;
double distance=mtr2nm(DistanceToWaypoint);
if (distance > 999.9) distance=999.9;
if (! nmeaMsg.AddDoubleField(distance,1,"%.1f")) return;
if (! nmeaMsg.AddDoubleField(formatCourse(BearingPositionToDestinationWaypoint))) return;
if (WaypointClosingVelocity != N2kDoubleNA){
if (!nmeaMsg.AddDoubleField(msToKnots(WaypointClosingVelocity))) return;
}
else{
if (!nmeaMsg.AddEmptyField()) return;
}
if (! nmeaMsg.AddStrField(ArrivalCircleEntered?"A":"V")) return;
SendMessage(nmeaMsg);
}
void registerConverters() void registerConverters()
{ {
@ -1100,6 +1177,7 @@ private:
converters.registerConverter(129540UL, &N2kToNMEA0183Functions::HandleSats); converters.registerConverter(129540UL, &N2kToNMEA0183Functions::HandleSats);
converters.registerConverter(127251UL, &N2kToNMEA0183Functions::HandleROT); converters.registerConverter(127251UL, &N2kToNMEA0183Functions::HandleROT);
converters.registerConverter(129283UL, &N2kToNMEA0183Functions::HandleXTE); converters.registerConverter(129283UL, &N2kToNMEA0183Functions::HandleXTE);
converters.registerConverter(129284UL, &N2kToNMEA0183Functions::HandleNavigation);
#define HANDLE_AIS #define HANDLE_AIS
#ifdef HANDLE_AIS #ifdef HANDLE_AIS
converters.registerConverter(129038UL, &N2kToNMEA0183Functions::HandleAISClassAPosReport); // AIS Class A Position Report, Message Type 1 converters.registerConverter(129038UL, &N2kToNMEA0183Functions::HandleAISClassAPosReport); // AIS Class A Position Report, Message Type 1