thooge
/
esp32-nmea2000-obp60
mirror of https://github.com/thooge/esp32-nmea2000-obp60.git
1
0
Fork 0
Code Releases Activity
esp32-nmea2000-obp60/lib/nmea0183ton2k/NMEA0183AIStoNMEA2000.h

339 lines
13 KiB
C++
Raw Permalink Blame History

/*
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
*/
//imported from https://github.com/AK-Homberger/NMEA2000-AIS-Gateway/tree/main/MyAISToN2k
#include <Arduino.h>
#include "ais_decoder.h"
#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;
const double degToRad = pi / 180.0;
const double nmTom = 1.852 * 1000;
uint16_t DaysSince1970 = 0;
class MyAisDecoder : public AIS::AisDecoder
{
public:
int sourceId=-1;
private:
NMEA0183DataToN2K::N2kSender sender;
GwLog *logger;
void send(const tN2kMsg &msg){
(*sender)(msg,sourceId);
}
AIS::DefaultSentenceParser parser;
public:
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,
unsigned int _timestamp, unsigned int _maneuver_i) override {
// Serial.println("123");
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)
send(N2kMsg);
}
virtual void onType411(unsigned int , unsigned int , unsigned int , unsigned int , unsigned int , unsigned int , unsigned int , unsigned int , bool , int , int ) override {
//Serial.println("411");
}
virtual void onType5(unsigned int _uMsgType, unsigned int _uMmsi, unsigned int _uImo, const std::string &_strCallsign,
const std::string &_strName,
unsigned int _uType, unsigned int _uToBow, unsigned int _uToStern,
unsigned int _uToPort, unsigned int _uToStarboard, unsigned int _uFixType,
unsigned int _uEtaMonth, unsigned int _uEtaDay, unsigned int _uEtaHour,
unsigned int _uEtaMinute, unsigned int _uDraught,
const std::string &_strDestination, unsigned int _ais_version,
unsigned int _repeat, bool _dte) override {
// Serial.println("5");
// Necessary due to conflict with TimeLib.h (redefinition of tmElements_t)
time_t t = DaysSince1970 * (24UL * 3600UL);
tmElements_t tm;
tNMEA0183Msg::breakTime(t, tm);
//tNMEA0183Msg::SetYear(tm, 2020);
tNMEA0183Msg::SetMonth(tm, _uEtaMonth);
tNMEA0183Msg::SetDay(tm, _uEtaDay);
tNMEA0183Msg::SetHour(tm, 0);
tNMEA0183Msg::SetMin(tm, 0);
tNMEA0183Msg::SetSec(tm, 0);
uint16_t eta_days = tNMEA0183Msg::makeTime(tm) / (24UL * 3600UL);
tN2kMsg N2kMsg;
char CS[8];
char Name[21];
char Dest[21];
strncpy(CS, _strCallsign.c_str(), sizeof(CS) - 1);
CS[7] = 0;
for (int i = strlen(CS); i < 7; i++) CS[i] = 32;
strncpy(Name, _strName.c_str(), sizeof(Name) - 1);
Name[20] = 0;
for (int i = strlen(Name); i < 20; i++) Name[i] = 32;
strncpy(Dest, _strDestination.c_str(), sizeof(Dest) - 1);
Dest[20] = 0;
for (int i = strlen(Dest); i < 20; i++) Dest[i] = 32;
// PGN129794
SetN2kAISClassAStatic(N2kMsg, _uMsgType, (tN2kAISRepeat) _repeat, _uMmsi,
_uImo, CS, Name, _uType, _uToBow + _uToStern,
_uToPort + _uToStarboard, _uToStarboard, _uToBow, eta_days,
(_uEtaHour * 3600) + (_uEtaMinute * 60), _uDraught / 10.0, Dest,
(tN2kAISVersion) _ais_version, (tN2kGNSStype) _uFixType,
(tN2kAISDTE) _dte, (tN2kAISTransceiverInformation) _ais_version);
send(N2kMsg);
}
virtual void onType9(unsigned int , unsigned int , bool , int , int , int , unsigned int ) override {
//Serial.println("9");
}
virtual void onType14(unsigned int _repeat, unsigned int _uMmsi,
const std::string &_strText, int _iPayloadSizeBits) override {
tN2kMsg N2kMsg;
char Text[162];
strncpy(Text, _strText.c_str(), sizeof(Text)-1);
Text[161]=0;
N2kMsg.SetPGN(129802UL);
N2kMsg.Priority = 4;
N2kMsg.Destination = 255; // Redundant, PGN129802 is broadcast by default.
N2kMsg.AddByte((_repeat & 0x03) << 6 | (14 & 0x3f));
N2kMsg.Add4ByteUInt(_uMmsi);
N2kMsg.AddByte(0);
if (strlen(Text) == 0) {
N2kMsg.AddByte(0x03); N2kMsg.AddByte(0x01); N2kMsg.AddByte(0x00);
} else {
N2kMsg.AddByte(strlen(Text) + 2); N2kMsg.AddByte(0x01);
for (int i = 0; i < strlen(Text); i++)
N2kMsg.AddByte(Text[i]);
}
send(N2kMsg);
}
virtual void onType18(unsigned int _uMsgType, unsigned int _uMmsi, unsigned int _uSog, bool _bPosAccuracy,
long _iPosLon, long _iPosLat, int _iCog, int _iHeading, bool _raim, unsigned int _repeat,
bool _unit, bool _diplay, bool _dsc, bool _band, bool _msg22, bool _assigned,
unsigned int _timestamp, bool _state ) override {
//Serial.println("18");
tN2kMsg N2kMsg;
// PGN129039
SetN2kAISClassBPosition(N2kMsg, _uMsgType, (tN2kAISRepeat) _repeat, _uMmsi,
_iPosLat / 600000.0, _iPosLon / 600000.0, _bPosAccuracy, _raim,
_timestamp, decodeCog(_iCog), _uSog * knToms / 10.0,
decodeHeading(_iHeading), (tN2kAISUnit) _unit,
_diplay, _dsc, _band, _msg22, (tN2kAISMode) _assigned, _state);
send(N2kMsg);
}
virtual void onType19(unsigned int _uMmsi, unsigned int _uSog, bool _bPosAccuracy, int _iPosLon, int _iPosLat,
int _iCog, int _iHeading, const std::string &_strName, unsigned int _uType,
unsigned int _uToBow, unsigned int _uToStern, unsigned int _uToPort,
unsigned int _uToStarboard, unsigned int _timestamp, unsigned int _fixtype,
bool _dte, bool _assigned, unsigned int _repeat, bool _raim) override {
//Serial.println("19");
tN2kMsg N2kMsg;
// PGN129040
char Name[21];
strncpy(Name, _strName.c_str(), sizeof(Name)-1);
Name[20]=0;
for (int i = strlen(Name); i < 20; i++) Name[i] = 32;
N2kMsg.SetPGN(129040UL);
N2kMsg.Priority = 4;
N2kMsg.AddByte((_repeat & 0x03) << 6 | (19 & 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(0xff); // Regional Application
N2kMsg.AddByte(0xff); // Regional Application
N2kMsg.AddByte(_uType );
N2kMsg.Add2ByteUDouble(decodeHeading(_iHeading), 1e-04);
N2kMsg.AddByte(_fixtype << 4);
N2kMsg.Add2ByteDouble(_uToBow + _uToStern, 0.1);
N2kMsg.Add2ByteDouble(_uToPort + _uToStarboard, 0.1);
N2kMsg.Add2ByteDouble(_uToStarboard, 0.1);
N2kMsg.Add2ByteDouble(_uToBow, 0.1);
N2kMsg.AddStr(Name, 20);
N2kMsg.AddByte((_dte & 0x01) | (_assigned & 0x01) << 1) ;
N2kMsg.AddByte(0);
N2kMsg.AddByte(0xff); // Sequence ID (Not Available)
send(N2kMsg);
}
virtual void onType21(unsigned int , unsigned int , const std::string &, bool , int , int , unsigned int , unsigned int , unsigned int , unsigned int ) override {
//Serial.println("21");
}
virtual void onType24A(unsigned int _uMsgType, unsigned int _repeat, unsigned int _uMmsi,
const std::string &_strName) override {
//Serial.println("24A");
tN2kMsg N2kMsg;
char Name[21];
strncpy(Name, _strName.c_str(), sizeof(Name) - 1);
Name[20]=0;
for (int i = strlen(Name); i < 20; i++) Name[i] = 32;
// PGN129809
SetN2kAISClassBStaticPartA(N2kMsg, _uMsgType, (tN2kAISRepeat) _repeat, _uMmsi, Name);
send(N2kMsg);
}
virtual void onType24B(unsigned int _uMsgType, unsigned int _repeat, unsigned int _uMmsi,
const std::string &_strCallsign, unsigned int _uType,
unsigned int _uToBow, unsigned int _uToStern, unsigned int _uToPort,
unsigned int _uToStarboard, const std::string &_strVendor) override {
// Serial.println("24B");
tN2kMsg N2kMsg;
char CS[8];
char Vendor[8];
strncpy(CS, _strCallsign.c_str(), sizeof(CS) - 1);
CS[7] = 0;
for (int i = strlen(CS); i < 7; i++) CS[i] = 32;
strncpy(Vendor, _strVendor.c_str(), sizeof(Vendor) - 1);
Vendor[7] = 0;
for (int i = strlen(Vendor); i < 7; i++) Vendor[i] = 32;
// PGN129810
SetN2kAISClassBStaticPartB(N2kMsg, _uMsgType, (tN2kAISRepeat)_repeat, _uMmsi,
_uType, Vendor, CS, _uToBow + _uToStern, _uToPort + _uToStarboard,
_uToStarboard, _uToBow, _uMmsi);
send(N2kMsg);
}
virtual void onType27(unsigned int , unsigned int , unsigned int , bool , int , int , int ) override {
//Serial.println("27");
}
virtual void onSentence(const AIS::StringRef &_Stc) override {
//Serial.printf("Sentence: %s\n", _Stc);
}
virtual void onMessage(const AIS::StringRef &, const AIS::StringRef &, const AIS::StringRef &) override {}
virtual void onNotDecoded(const AIS::StringRef &, int ) override {}
virtual void onDecodeError(const AIS::StringRef &_strMessage, const std::string &_strError) override {
std::string msg(_strMessage.data(), _strMessage.size());
AIS::stripTrailingWhitespace(msg);
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);
LOG_DEBUG(GwLog::ERROR,"%s [%s]\n", _strError.c_str(), msg.c_str());
}
public:
void handleMessage(const char * msg){
size_t i=decodeMsg(msg,strlen(msg),0,parser,true);
}
};
View Git Blame Copy Permalink