thooge/esp32-nmea2000-obp60
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more parameters for AIS type 21

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This commit is contained in:
wellenvogel
2025-09-21 19:32:02 +02:00
parent 6e0d56316b
commit e578b428c9
3 changed files with 35 additions and 33 deletions
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14
lib/aisparser/ais_decoder.cpp
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@@ -627,7 +627,7 @@ void AisDecoder::decodeType21(PayloadBuffer &_buffer, unsigned int _uMsgType, in
}
// decode message fields (binary buffer has to go through all fields, but some fields are not used)
_buffer.getUnsignedValue(2); // repeatIndicator
auto repeat=_buffer.getUnsignedValue(2); // repeatIndicator
auto mmsi = _buffer.getUnsignedValue(30);
auto aidType = _buffer.getUnsignedValue(5);
auto name = _buffer.getString(120);
@@ -640,11 +640,11 @@ void AisDecoder::decodeType21(PayloadBuffer &_buffer, unsigned int _uMsgType, in
auto toStarboard = _buffer.getUnsignedValue(6);
_buffer.getUnsignedValue(4); // epfd type
_buffer.getUnsignedValue(6); // timestamp
_buffer.getBoolValue(); // off position
auto timestamp=_buffer.getUnsignedValue(6); // timestamp
auto offPosition=_buffer.getBoolValue(); // off position
_buffer.getUnsignedValue(8); // reserved
_buffer.getBoolValue(); // RAIM
_buffer.getBoolValue(); // virtual aid
auto raim=_buffer.getBoolValue(); // RAIM
auto virtualAton=_buffer.getBoolValue(); // virtual aid
_buffer.getBoolValue(); // assigned mode
_buffer.getUnsignedValue(1); // spare
@@ -654,7 +654,9 @@ void AisDecoder::decodeType21(PayloadBuffer &_buffer, unsigned int _uMsgType, in
nameExt = _buffer.getString(88);
}
onType21(mmsi, aidType, name + nameExt, posAccuracy, posLon, posLat, toBow, toStern, toPort, toStarboard);
onType21(mmsi, aidType, name + nameExt, posAccuracy, posLon, posLat,
toBow, toStern, toPort, toStarboard,
repeat,timestamp, raim, virtualAton, offPosition);
}
/* decode Voyage Report and Static Data (type nibble already pulled from buffer) */

3
lib/aisparser/ais_decoder.h
View File

@@ -297,7 +297,8 @@ namespace AIS
bool assigned, unsigned int repeat, bool raim) = 0;
virtual void onType21(unsigned int _uMmsi, unsigned int _uAidType, const std::string &_strName, bool _bPosAccuracy, int _iPosLon, int _iPosLat,
unsigned int _uToBow, unsigned int _uToStern, unsigned int _uToPort, unsigned int _uToStarboard) = 0;
unsigned int _uToBow, unsigned int _uToStern, unsigned int _uToPort, unsigned int _uToStarboard,
unsigned int repeat,unsigned int timestamp, bool raim, bool virtualAton, bool offPosition) = 0;
virtual void onType24A(unsigned int _uMsgType, unsigned int _repeat, unsigned int _uMmsi, const std::string &_strName) = 0;

51
lib/nmea0183ton2k/NMEA0183AIStoNMEA2000.h
View File

@@ -84,25 +84,24 @@ class MyAisDecoder : public AIS::AisDecoder
tN2kMsg N2kMsg;
// PGN129038
N2kMsg.SetPGN(129038L);
N2kMsg.Priority = 4;
N2kMsg.AddByte((_Repeat & 0x03) << 6 | (_uMsgType & 0x3f));
N2kMsg.Add4ByteUInt(_uMmsi);
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(decodeCog(_iCog), 1e-04);
N2kMsg.Add2ByteUDouble(_uSog * knToms/10.0, 0.01);
N2kMsg.AddByte(0x00); // Communication State (19 bits)
N2kMsg.AddByte(0x00);
N2kMsg.AddByte(0x00); // AIS transceiver information (5 bits)
N2kMsg.Add2ByteUDouble(decodeHeading(_iHeading), 1e-04);
N2kMsg.Add2ByteDouble(decodeRot(_iRot), 3.125E-05); // 1e-3/32.0
N2kMsg.AddByte(0xF0 | (_uNavstatus & 0x0f));
N2kMsg.AddByte(0xff); // Reserved
N2kMsg.AddByte(0xff); // SID (NA)
SetN2kPGN129038(
N2kMsg,
_uMsgType,
(tN2kAISRepeat)_Repeat,
_uMmsi,
_iPosLon/ 600000.0,
_iPosLat / 600000.0,
_bPosAccuracy,
_Raim,
_timestamp,
decodeCog(_iCog),
_uSog * knToms/10.0,
tN2kAISTransceiverInformation::N2kaischannel_A_VDL_reception,
decodeHeading(_iHeading),
decodeRot(_iRot),
(tN2kAISNavStatus)_uNavstatus,
0xff
);
send(N2kMsg);
}
@@ -258,16 +257,14 @@ class MyAisDecoder : public AIS::AisDecoder
}
//mmsi, aidType, name + nameExt, posAccuracy, posLon, posLat, toBow, toStern, toPort, toStarboard
virtual void onType21(unsigned int mmsi , unsigned int aidType , const std::string & name, bool accuracy, int posLon, int posLat, unsigned int toBow, unsigned int toStern, unsigned int toPort, unsigned int toStarboard) override {
virtual void onType21(unsigned int mmsi , unsigned int aidType , const std::string & name, bool accuracy, int posLon, int posLat, unsigned int toBow,
unsigned int toStern, unsigned int toPort, unsigned int toStarboard,
unsigned int repeat,unsigned int timestamp, bool raim, bool virtualAton, bool offPosition) override {
//Serial.println("21");
//the name can be at most 120bit+88bit (35 byte) + termination -> 36 Byte
//in principle we should use tN2kAISAtoNReportData to directly call the library
//function for 129041. But this makes the conversion really complex.
int repeat=0; //TODO: should be part of the parameters
int seconds=0;
bool raim=false;
bool offPosition=false;
bool assignedMode=false;
bool virtualAton=false;
tN2kGNSStype gnssType=tN2kGNSStype::N2kGNSSt_GPS; //canboat considers 0 as undefined...
tN2kAISTransceiverInformation transceiverInfo=tN2kAISTransceiverInformation::N2kaischannel_A_VDL_reception;
tN2kMsg N2kMsg;
@@ -277,7 +274,7 @@ class MyAisDecoder : public AIS::AisDecoder
N2kMsg.Add4ByteUInt(mmsi); //N2kData.UserID
N2kMsg.Add4ByteDouble(posLon / 600000.0, 1e-07);
N2kMsg.Add4ByteDouble(posLat / 600000.0, 1e-07);
N2kMsg.AddByte((seconds & 0x3f)<<2 | boolbit(raim)<<1 | boolbit(accuracy));
N2kMsg.AddByte((timestamp & 0x3f)<<2 | boolbit(raim)<<1 | boolbit(accuracy));
N2kMsg.Add2ByteUDouble(toBow+toStern, 0.1);
N2kMsg.Add2ByteUDouble(toPort+toStarboard, 0.1);
N2kMsg.Add2ByteUDouble(toStarboard, 0.1);
@@ -289,6 +286,8 @@ class MyAisDecoder : public AIS::AisDecoder
N2kMsg.AddByte((gnssType & 0x0F) << 1 | 0xe0);
N2kMsg.AddByte(N2kUInt8NA); //status
N2kMsg.AddByte((transceiverInfo & 0x1f) | 0xe0);
//bit offset 208 (see canboat/pgns.xml) -> 26 bytes from start
//as MaxDataLen is 223 and the string can be at most 36 bytes + 2 byte heading - no further check here
N2kMsg.AddVarStr(name.c_str());
send(N2kMsg);
}