871 lines
33 KiB
C++
871 lines
33 KiB
C++
/*
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N2kDataToNMEA0183.cpp
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Copyright (c) 2015-2018 Timo Lappalainen, Kave Oy, www.kave.fi
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Permission is hereby granted, free of charge, to any person obtaining a copy of
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this software and associated documentation files (the "Software"), to deal in
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the Software without restriction, including without limitation the rights to use,
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copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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Software, and to permit persons to whom the Software is furnished to do so,
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subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
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CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
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OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <N2kMessages.h>
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#include <NMEA0183Messages.h>
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#include <math.h>
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#include "N2kDataToNMEA0183.h"
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#include "NMEA0183AISMessages.h"
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#include "ConverterList.h"
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N2kDataToNMEA0183::N2kDataToNMEA0183(GwLog * logger, GwBoatData *boatData, tNMEA2000 *NMEA2000,
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tSendNMEA0183MessageCallback callback, int id)
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: tNMEA2000::tMsgHandler(0,NMEA2000){
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SendNMEA0183MessageCallback=0;
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this->SendNMEA0183MessageCallback=callback;
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sourceId=id;
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}
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//*****************************************************************************
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void N2kDataToNMEA0183::loop() {
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}
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//*****************************************************************************
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void N2kDataToNMEA0183::SendMessage(const tNMEA0183Msg &NMEA0183Msg) {
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if ( SendNMEA0183MessageCallback != 0 ) SendNMEA0183MessageCallback(NMEA0183Msg, sourceId);
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}
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/**
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* The class N2kToNMEA0183Functions is intended to be used for implementing all converter
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* functions
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* For easy extendability the implementation can be done completely within
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* this header file (java like) without the need to change multiple files
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*/
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class N2kToNMEA0183Functions : public N2kDataToNMEA0183
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{
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private:
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ConverterList<N2kToNMEA0183Functions,tN2kMsg> converters;
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static const unsigned long RMCPeriod = 500;
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void setMax(GwBoatItem<double> *maxItem, GwBoatItem<double> *item)
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{
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unsigned long now = millis();
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if (!item->isValid(now))
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return;
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if (item->getData() > maxItem->getData() || !maxItem->isValid(now))
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{
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maxItem->update(item->getData(),sourceId);
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}
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}
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void updateDouble(GwBoatItem<double> *item, double value)
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{
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if (value == N2kDoubleNA)
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return;
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if (!item)
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return;
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item->update(value,sourceId);
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}
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unsigned long LastPosSend;
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unsigned long NextRMCSend;
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unsigned long lastLoopTime;
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virtual unsigned long *handledPgns()
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{
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logger->logString("CONV: # %d handled PGNS", converters.numConverters());
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return converters.handledPgns();
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}
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virtual void HandleMsg(const tN2kMsg &N2kMsg)
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{
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String key=String(N2kMsg.PGN);
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bool rt=converters.handleMessage(key,N2kMsg,this);
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if (! rt){
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LOG_DEBUG(GwLog::DEBUG+1,"no handler for %ld",N2kMsg.PGN);
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}
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}
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virtual void toJson(JsonDocument &json)
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{
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converters.toJson(String(F("cnv")),json);
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}
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virtual int numPgns()
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{
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return converters.numConverters();
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}
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void SetNextRMCSend() { NextRMCSend = millis() + RMCPeriod; }
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//*************** the converters ***********************
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void HandleHeading(const tN2kMsg &N2kMsg)
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{
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unsigned char SID;
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tN2kHeadingReference ref;
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double _Deviation = 0;
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double Variation;
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tNMEA0183Msg NMEA0183Msg;
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double Heading;
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if (ParseN2kHeading(N2kMsg, SID, Heading, _Deviation, Variation, ref))
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{
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if (ref == N2khr_magnetic)
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{
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updateDouble(boatData->Variation, Variation); // Update Variation
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if (!N2kIsNA(Heading) && boatData->Variation->isValid(millis()))
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Heading -= boatData->Variation->getData();
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}
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updateDouble(boatData->Heading, Heading);
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if (NMEA0183SetHDG(NMEA0183Msg, boatData->Heading->getDataWithDefault(NMEA0183DoubleNA), _Deviation, boatData->Variation->getDataWithDefault(NMEA0183DoubleNA)))
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{
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SendMessage(NMEA0183Msg);
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}
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}
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}
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//*****************************************************************************
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void HandleVariation(const tN2kMsg &N2kMsg)
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{
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unsigned char SID;
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tN2kMagneticVariation Source;
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uint16_t DaysSince1970;
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double Variation;
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ParseN2kMagneticVariation(N2kMsg, SID, Source, DaysSince1970, Variation);
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updateDouble(boatData->Variation, Variation);
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if (DaysSince1970 != N2kUInt16NA && DaysSince1970 != 0)
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boatData->DaysSince1970->update(DaysSince1970,sourceId);
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}
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//*****************************************************************************
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void HandleBoatSpeed(const tN2kMsg &N2kMsg)
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{
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unsigned char SID;
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double WaterReferenced;
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double GroundReferenced;
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tN2kSpeedWaterReferenceType SWRT;
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if (ParseN2kBoatSpeed(N2kMsg, SID, WaterReferenced, GroundReferenced, SWRT))
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{
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tNMEA0183Msg NMEA0183Msg;
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updateDouble(boatData->STW, WaterReferenced);
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unsigned long now = millis();
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double MagneticHeading = (boatData->Heading->isValid(now) && boatData->Variation->isValid(now)) ? boatData->Heading->getData() + boatData->Variation->getData() : NMEA0183DoubleNA;
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if (NMEA0183SetVHW(NMEA0183Msg, boatData->Heading->getData(), MagneticHeading, WaterReferenced))
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{
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SendMessage(NMEA0183Msg);
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}
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}
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}
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//*****************************************************************************
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void HandleDepth(const tN2kMsg &N2kMsg)
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{
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unsigned char SID;
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double DepthBelowTransducer;
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double Offset;
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double Range;
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double WaterDepth;
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if (ParseN2kWaterDepth(N2kMsg, SID, DepthBelowTransducer, Offset, Range))
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{
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WaterDepth = DepthBelowTransducer + Offset;
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updateDouble(boatData->WaterDepth, WaterDepth);
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tNMEA0183Msg NMEA0183Msg;
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if (NMEA0183SetDPT(NMEA0183Msg, DepthBelowTransducer, Offset))
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{
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SendMessage(NMEA0183Msg);
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}
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if (NMEA0183SetDBx(NMEA0183Msg, DepthBelowTransducer, Offset))
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{
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SendMessage(NMEA0183Msg);
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}
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}
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}
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//*****************************************************************************
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void HandlePosition(const tN2kMsg &N2kMsg)
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{
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double Latitude;
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double Longitude;
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if (ParseN2kPGN129025(N2kMsg, Latitude, Longitude))
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{
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updateDouble(boatData->Latitude, Latitude);
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updateDouble(boatData->Longitude, Longitude);
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}
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}
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//*****************************************************************************
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void HandleCOGSOG(const tN2kMsg &N2kMsg)
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{
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unsigned char SID;
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tN2kHeadingReference HeadingReference;
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tNMEA0183Msg NMEA0183Msg;
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double COG;
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double SOG;
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if (ParseN2kCOGSOGRapid(N2kMsg, SID, HeadingReference, COG, SOG))
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{
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updateDouble(boatData->COG, COG);
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updateDouble(boatData->SOG, SOG);
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double MCOG = (!N2kIsNA(COG) && boatData->Variation->isValid()) ? COG - boatData->Variation->getData() : NMEA0183DoubleNA;
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if (HeadingReference == N2khr_magnetic)
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{
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MCOG = COG;
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if (boatData->Variation->isValid())
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{
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COG -= boatData->Variation->getData();
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updateDouble(boatData->COG, COG);
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}
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}
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if (NMEA0183SetVTG(NMEA0183Msg, COG, MCOG, SOG))
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{
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SendMessage(NMEA0183Msg);
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}
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}
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}
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//*****************************************************************************
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void HandleGNSS(const tN2kMsg &N2kMsg)
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{
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unsigned char SID;
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tN2kGNSStype GNSStype;
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tN2kGNSSmethod GNSSmethod;
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unsigned char nSatellites;
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double HDOP;
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double PDOP;
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double GeoidalSeparation;
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unsigned char nReferenceStations;
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tN2kGNSStype ReferenceStationType;
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uint16_t ReferenceSationID;
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double AgeOfCorrection;
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double Latitude;
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double Longitude;
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double Altitude;
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uint16_t DaysSince1970;
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double SecondsSinceMidnight;
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if (ParseN2kGNSS(N2kMsg, SID, DaysSince1970, SecondsSinceMidnight, Latitude, Longitude, Altitude, GNSStype, GNSSmethod,
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nSatellites, HDOP, PDOP, GeoidalSeparation,
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nReferenceStations, ReferenceStationType, ReferenceSationID, AgeOfCorrection))
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{
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updateDouble(boatData->Latitude, Latitude);
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updateDouble(boatData->Longitude, Longitude);
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updateDouble(boatData->Altitude, Altitude);
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updateDouble(boatData->SecondsSinceMidnight, SecondsSinceMidnight);
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if (DaysSince1970 != N2kUInt16NA && DaysSince1970 != 0)
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boatData->DaysSince1970->update(DaysSince1970,sourceId);
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}
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}
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//*****************************************************************************
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void HandleWind(const tN2kMsg &N2kMsg)
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{
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unsigned char SID;
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tN2kWindReference WindReference;
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tNMEA0183WindReference NMEA0183Reference = NMEA0183Wind_True;
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double x, y;
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double WindAngle, WindSpeed;
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if (ParseN2kWindSpeed(N2kMsg, SID, WindSpeed, WindAngle, WindReference))
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{
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tNMEA0183Msg NMEA0183Msg;
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if (WindReference == N2kWind_Apparent)
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{
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NMEA0183Reference = NMEA0183Wind_Apparent;
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updateDouble(boatData->AWA, WindAngle);
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updateDouble(boatData->AWS, WindSpeed);
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setMax(boatData->MaxAws, boatData->AWS);
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}
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if (NMEA0183SetMWV(NMEA0183Msg, formatCourse(WindAngle), NMEA0183Reference, WindSpeed))
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SendMessage(NMEA0183Msg);
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if (WindReference == N2kWind_Apparent && boatData->SOG->isValid())
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{ // Lets calculate and send TWS/TWA if SOG is available
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x = WindSpeed * cos(WindAngle);
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y = WindSpeed * sin(WindAngle);
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updateDouble(boatData->TWD, atan2(y, -boatData->SOG->getData() + x));
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updateDouble(boatData->TWS, sqrt((y * y) + ((-boatData->SOG->getData() + x) * (-boatData->SOG->getData() + x))));
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setMax(boatData->MaxTws, boatData->TWS);
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NMEA0183Reference = NMEA0183Wind_True;
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if (NMEA0183SetMWV(NMEA0183Msg,
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formatCourse(boatData->TWD->getData()),
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NMEA0183Reference,
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boatData->TWS->getDataWithDefault(NMEA0183DoubleNA)))
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SendMessage(NMEA0183Msg);
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double magnetic = boatData->TWD->getData();
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if (boatData->Variation->isValid())
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magnetic -= boatData->Variation->getData();
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if (!NMEA0183Msg.Init("MWD", "GP"))
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return;
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if (!NMEA0183Msg.AddDoubleField(formatCourse(boatData->TWD->getData())))
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return;
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if (!NMEA0183Msg.AddStrField("T"))
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return;
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if (!NMEA0183Msg.AddDoubleField(formatCourse(magnetic)))
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return;
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if (!NMEA0183Msg.AddStrField("M"))
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return;
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if (!NMEA0183Msg.AddDoubleField(boatData->TWS->getData() / 0.514444))
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return;
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if (!NMEA0183Msg.AddStrField("N"))
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return;
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if (!NMEA0183Msg.AddDoubleField(boatData->TWS->getData()))
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return;
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if (!NMEA0183Msg.AddStrField("M"))
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return;
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SendMessage(NMEA0183Msg);
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}
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}
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}
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//*****************************************************************************
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void SendRMC()
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{
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long now = millis();
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if (NextRMCSend <= millis() &&
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boatData->Latitude->isValid(now) &&
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boatData->Latitude->getLastSource() == sourceId
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)
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{
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tNMEA0183Msg NMEA0183Msg;
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if (NMEA0183SetRMC(NMEA0183Msg,
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boatData->SecondsSinceMidnight->getDataWithDefault(NMEA0183DoubleNA),
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boatData->Latitude->getDataWithDefault(NMEA0183DoubleNA),
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boatData->Longitude->getDataWithDefault(NMEA0183DoubleNA),
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boatData->COG->getDataWithDefault(NMEA0183DoubleNA),
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boatData->SOG->getDataWithDefault(NMEA0183DoubleNA),
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boatData->DaysSince1970->getDataWithDefault(NMEA0183UInt32NA),
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boatData->Variation->getDataWithDefault(NMEA0183DoubleNA)))
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{
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SendMessage(NMEA0183Msg);
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}
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SetNextRMCSend();
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}
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}
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//*****************************************************************************
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void HandleLog(const tN2kMsg &N2kMsg)
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{
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uint16_t DaysSince1970;
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double SecondsSinceMidnight;
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uint32_t Log, TripLog;
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if (ParseN2kDistanceLog(N2kMsg, DaysSince1970, SecondsSinceMidnight, Log, TripLog))
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{
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if (Log != N2kUInt32NA)
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boatData->Log->update(Log,sourceId);
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if (TripLog != N2kUInt32NA)
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boatData->TripLog->update(TripLog,sourceId);
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if (DaysSince1970 != N2kUInt16NA && DaysSince1970 != 0)
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boatData->DaysSince1970->update(DaysSince1970,sourceId);
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tNMEA0183Msg NMEA0183Msg;
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if (!NMEA0183Msg.Init("VLW", "GP"))
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return;
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if (!NMEA0183Msg.AddDoubleField(Log / 1852.0))
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return;
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if (!NMEA0183Msg.AddStrField("N"))
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return;
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if (!NMEA0183Msg.AddDoubleField(TripLog / 1852.0))
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return;
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if (!NMEA0183Msg.AddStrField("N"))
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return;
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SendMessage(NMEA0183Msg);
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}
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}
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//*****************************************************************************
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void HandleRudder(const tN2kMsg &N2kMsg)
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{
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unsigned char Instance;
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tN2kRudderDirectionOrder RudderDirectionOrder;
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double AngleOrder;
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double RudderPosition;
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if (ParseN2kRudder(N2kMsg, RudderPosition, Instance, RudderDirectionOrder, AngleOrder))
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{
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updateDouble(boatData->RudderPosition, RudderPosition);
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if (Instance != 0)
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return;
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tNMEA0183Msg NMEA0183Msg;
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if (!NMEA0183Msg.Init("RSA", "GP"))
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return;
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if (!NMEA0183Msg.AddDoubleField(formatCourse(RudderPosition)))
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return;
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if (!NMEA0183Msg.AddStrField("A"))
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return;
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if (!NMEA0183Msg.AddDoubleField(0.0))
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return;
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if (!NMEA0183Msg.AddStrField("A"))
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return;
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SendMessage(NMEA0183Msg);
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}
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}
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//*****************************************************************************
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void HandleWaterTemp(const tN2kMsg &N2kMsg)
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{
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unsigned char SID;
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double OutsideAmbientAirTemperature;
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double AtmosphericPressure;
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double WaterTemperature;
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if (ParseN2kPGN130310(N2kMsg, SID, WaterTemperature, OutsideAmbientAirTemperature, AtmosphericPressure))
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{
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updateDouble(boatData->WaterTemperature, WaterTemperature);
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tNMEA0183Msg NMEA0183Msg;
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if (!NMEA0183Msg.Init("MTW", "GP"))
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return;
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if (!NMEA0183Msg.AddDoubleField(KelvinToC(WaterTemperature)))
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return;
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if (!NMEA0183Msg.AddStrField("C"))
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return;
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SendMessage(NMEA0183Msg);
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}
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}
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//*****************************************************************************
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// 129038 AIS Class A Position Report (Message 1, 2, 3)
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void HandleAISClassAPosReport(const tN2kMsg &N2kMsg)
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{
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unsigned char SID;
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tN2kAISRepeat _Repeat;
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uint32_t _UserID; // MMSI
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double _Latitude;
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double _Longitude;
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bool _Accuracy;
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bool _RAIM;
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uint8_t _Seconds;
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double _COG;
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double _SOG;
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double _Heading;
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double _ROT;
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tN2kAISNavStatus _NavStatus;
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uint8_t _MessageType = 1;
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tNMEA0183AISMsg NMEA0183AISMsg;
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if (ParseN2kPGN129038(N2kMsg, SID, _Repeat, _UserID, _Latitude, _Longitude, _Accuracy, _RAIM, _Seconds,
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_COG, _SOG, _Heading, _ROT, _NavStatus))
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{
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// Debug
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#ifdef SERIAL_PRINT_AIS_FIELDS
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Serial.println("–––––––––––––––––––––––– Msg 1 ––––––––––––––––––––––––––––––––");
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const double pi = 3.1415926535897932384626433832795;
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const double radToDeg = 180.0 / pi;
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const double msTokn = 3600.0 / 1852.0;
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const double radsToDegMin = 60 * 360.0 / (2 * pi); // [rad/s -> degree/minute]
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Serial.print("Repeat: ");
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Serial.println(_Repeat);
|
||
Serial.print("UserID: ");
|
||
Serial.println(_UserID);
|
||
Serial.print("Latitude: ");
|
||
Serial.println(_Latitude);
|
||
Serial.print("Longitude: ");
|
||
Serial.println(_Longitude);
|
||
Serial.print("Accuracy: ");
|
||
Serial.println(_Accuracy);
|
||
Serial.print("RAIM: ");
|
||
Serial.println(_RAIM);
|
||
Serial.print("Seconds: ");
|
||
Serial.println(_Seconds);
|
||
Serial.print("COG: ");
|
||
Serial.println(_COG * radToDeg);
|
||
Serial.print("SOG: ");
|
||
Serial.println(_SOG * msTokn);
|
||
Serial.print("Heading: ");
|
||
Serial.println(_Heading * radToDeg);
|
||
Serial.print("ROT: ");
|
||
Serial.println(_ROT * radsToDegMin);
|
||
Serial.print("NavStatus: ");
|
||
Serial.println(_NavStatus);
|
||
#endif
|
||
|
||
if (SetAISClassABMessage1(NMEA0183AISMsg, _MessageType, _Repeat, _UserID, _Latitude, _Longitude, _Accuracy,
|
||
_RAIM, _Seconds, _COG, _SOG, _Heading, _ROT, _NavStatus))
|
||
{
|
||
|
||
SendMessage(NMEA0183AISMsg);
|
||
|
||
#ifdef SERIAL_PRINT_AIS_NMEA
|
||
// Debug Print AIS-NMEA
|
||
Serial.print(NMEA0183AISMsg.GetPrefix());
|
||
Serial.print(NMEA0183AISMsg.Sender());
|
||
Serial.print(NMEA0183AISMsg.MessageCode());
|
||
for (int i = 0; i < NMEA0183AISMsg.FieldCount(); i++)
|
||
{
|
||
Serial.print(",");
|
||
Serial.print(NMEA0183AISMsg.Field(i));
|
||
}
|
||
char buf[7];
|
||
sprintf(buf, "*%02X\r\n", NMEA0183AISMsg.GetCheckSum());
|
||
Serial.print(buf);
|
||
#endif
|
||
}
|
||
}
|
||
} // end 129038 AIS Class A Position Report Message 1/3
|
||
|
||
//*****************************************************************************
|
||
// 129039 AIS Class B Position Report -> AIS Message Type 5: Static and Voyage Related Data
|
||
void HandleAISClassAMessage5(const tN2kMsg &N2kMsg)
|
||
{
|
||
uint8_t _MessageID;
|
||
tN2kAISRepeat _Repeat;
|
||
uint32_t _UserID; // MMSI
|
||
uint32_t _IMONumber;
|
||
char _Callsign[8];
|
||
char _Name[21];
|
||
uint8_t _VesselType;
|
||
double _Length;
|
||
double _Beam;
|
||
double _PosRefStbd;
|
||
double _PosRefBow;
|
||
uint16_t _ETAdate;
|
||
double _ETAtime;
|
||
double _Draught;
|
||
char _Destination[21];
|
||
tN2kAISVersion _AISversion;
|
||
tN2kGNSStype _GNSStype;
|
||
tN2kAISTranceiverInfo _AISinfo;
|
||
tN2kAISDTE _DTE;
|
||
|
||
tNMEA0183AISMsg NMEA0183AISMsg;
|
||
|
||
if (ParseN2kPGN129794(N2kMsg, _MessageID, _Repeat, _UserID, _IMONumber, _Callsign, _Name, _VesselType,
|
||
_Length, _Beam, _PosRefStbd, _PosRefBow, _ETAdate, _ETAtime, _Draught, _Destination,
|
||
_AISversion, _GNSStype, _DTE, _AISinfo))
|
||
{
|
||
|
||
#ifdef SERIAL_PRINT_AIS_FIELDS
|
||
// Debug Print N2k Values
|
||
Serial.println("––––––––––––––––––––––– Msg 5 –––––––––––––––––––––––––––––––––");
|
||
Serial.print("MessageID: ");
|
||
Serial.println(_MessageID);
|
||
Serial.print("Repeat: ");
|
||
Serial.println(_Repeat);
|
||
Serial.print("UserID: ");
|
||
Serial.println(_UserID);
|
||
Serial.print("IMONumber: ");
|
||
Serial.println(_IMONumber);
|
||
Serial.print("Callsign: ");
|
||
Serial.println(_Callsign);
|
||
Serial.print("VesselType: ");
|
||
Serial.println(_VesselType);
|
||
Serial.print("Name: ");
|
||
Serial.println(_Name);
|
||
Serial.print("Length: ");
|
||
Serial.println(_Length);
|
||
Serial.print("Beam: ");
|
||
Serial.println(_Beam);
|
||
Serial.print("PosRefStbd: ");
|
||
Serial.println(_PosRefStbd);
|
||
Serial.print("PosRefBow: ");
|
||
Serial.println(_PosRefBow);
|
||
Serial.print("ETAdate: ");
|
||
Serial.println(_ETAdate);
|
||
Serial.print("ETAtime: ");
|
||
Serial.println(_ETAtime);
|
||
Serial.print("Draught: ");
|
||
Serial.println(_Draught);
|
||
Serial.print("Destination: ");
|
||
Serial.println(_Destination);
|
||
Serial.print("GNSStype: ");
|
||
Serial.println(_GNSStype);
|
||
Serial.print("DTE: ");
|
||
Serial.println(_DTE);
|
||
Serial.println("––––––––––––––––––––––– Msg 5 –––––––––––––––––––––––––––––––––");
|
||
#endif
|
||
|
||
if (SetAISClassAMessage5(NMEA0183AISMsg, _MessageID, _Repeat, _UserID, _IMONumber, _Callsign, _Name, _VesselType,
|
||
_Length, _Beam, _PosRefStbd, _PosRefBow, _ETAdate, _ETAtime, _Draught, _Destination,
|
||
_GNSStype, _DTE))
|
||
{
|
||
|
||
SendMessage(NMEA0183AISMsg.BuildMsg5Part1(NMEA0183AISMsg));
|
||
|
||
#ifdef SERIAL_PRINT_AIS_NMEA
|
||
// Debug Print AIS-NMEA Message Type 5, Part 1
|
||
char buf[7];
|
||
Serial.print(NMEA0183AISMsg.GetPrefix());
|
||
Serial.print(NMEA0183AISMsg.Sender());
|
||
Serial.print(NMEA0183AISMsg.MessageCode());
|
||
for (int i = 0; i < NMEA0183AISMsg.FieldCount(); i++)
|
||
{
|
||
Serial.print(",");
|
||
Serial.print(NMEA0183AISMsg.Field(i));
|
||
}
|
||
sprintf(buf, "*%02X\r\n", NMEA0183AISMsg.GetCheckSum());
|
||
Serial.print(buf);
|
||
#endif
|
||
|
||
SendMessage(NMEA0183AISMsg.BuildMsg5Part2(NMEA0183AISMsg));
|
||
|
||
#ifdef SERIAL_PRINT_AIS_NMEA
|
||
// Print AIS-NMEA Message Type 5, Part 2
|
||
Serial.print(NMEA0183AISMsg.GetPrefix());
|
||
Serial.print(NMEA0183AISMsg.Sender());
|
||
Serial.print(NMEA0183AISMsg.MessageCode());
|
||
for (int i = 0; i < NMEA0183AISMsg.FieldCount(); i++)
|
||
{
|
||
Serial.print(",");
|
||
Serial.print(NMEA0183AISMsg.Field(i));
|
||
}
|
||
sprintf(buf, "*%02X\r\n", NMEA0183AISMsg.GetCheckSum());
|
||
Serial.print(buf);
|
||
#endif
|
||
}
|
||
}
|
||
}
|
||
|
||
//
|
||
//*****************************************************************************
|
||
// 129039 AIS Class B Position Report (Message 18)
|
||
void HandleAISClassBMessage18(const tN2kMsg &N2kMsg)
|
||
{
|
||
uint8_t _MessageID;
|
||
tN2kAISRepeat _Repeat;
|
||
uint32_t _UserID; // MMSI
|
||
double _Latitude;
|
||
double _Longitude;
|
||
bool _Accuracy;
|
||
bool _RAIM;
|
||
uint8_t _Seconds;
|
||
double _COG;
|
||
double _SOG;
|
||
double _Heading;
|
||
tN2kAISUnit _Unit;
|
||
bool _Display, _DSC, _Band, _Msg22, _State;
|
||
tN2kAISMode _Mode;
|
||
|
||
if (ParseN2kPGN129039(N2kMsg, _MessageID, _Repeat, _UserID, _Latitude, _Longitude, _Accuracy, _RAIM,
|
||
_Seconds, _COG, _SOG, _Heading, _Unit, _Display, _DSC, _Band, _Msg22, _Mode, _State))
|
||
{
|
||
|
||
tNMEA0183AISMsg NMEA0183AISMsg;
|
||
|
||
if (SetAISClassBMessage18(NMEA0183AISMsg, _MessageID, _Repeat, _UserID, _Latitude, _Longitude, _Accuracy, _RAIM,
|
||
_Seconds, _COG, _SOG, _Heading, _Unit, _Display, _DSC, _Band, _Msg22, _Mode, _State))
|
||
{
|
||
|
||
SendMessage(NMEA0183AISMsg);
|
||
|
||
#ifdef SERIAL_PRINT_AIS_NMEA
|
||
// Debug Print AIS-NMEA
|
||
Serial.print(NMEA0183AISMsg.GetPrefix());
|
||
Serial.print(NMEA0183AISMsg.Sender());
|
||
Serial.print(NMEA0183AISMsg.MessageCode());
|
||
for (int i = 0; i < NMEA0183AISMsg.FieldCount(); i++)
|
||
{
|
||
Serial.print(",");
|
||
Serial.print(NMEA0183AISMsg.Field(i));
|
||
}
|
||
char buf[7];
|
||
sprintf(buf, "*%02X\r\n", NMEA0183AISMsg.GetCheckSum());
|
||
Serial.print(buf);
|
||
#endif
|
||
}
|
||
}
|
||
return;
|
||
}
|
||
|
||
//*****************************************************************************
|
||
// PGN 129809 AIS Class B "CS" Static Data Report, Part A
|
||
void HandleAISClassBMessage24A(const tN2kMsg &N2kMsg)
|
||
{
|
||
|
||
uint8_t _MessageID;
|
||
tN2kAISRepeat _Repeat;
|
||
uint32_t _UserID; // MMSI
|
||
char _Name[21];
|
||
|
||
if (ParseN2kPGN129809(N2kMsg, _MessageID, _Repeat, _UserID, _Name))
|
||
{
|
||
|
||
tNMEA0183AISMsg NMEA0183AISMsg;
|
||
if (SetAISClassBMessage24PartA(NMEA0183AISMsg, _MessageID, _Repeat, _UserID, _Name))
|
||
{
|
||
}
|
||
}
|
||
return;
|
||
}
|
||
|
||
//*****************************************************************************
|
||
// PGN 129810 AIS Class B "CS" Static Data Report, Part B -> AIS Message 24 (2 Parts)
|
||
void HandleAISClassBMessage24B(const tN2kMsg &N2kMsg)
|
||
{
|
||
|
||
uint8_t _MessageID;
|
||
tN2kAISRepeat _Repeat;
|
||
uint32_t _UserID, _MothershipID; // MMSI
|
||
char _Callsign[8];
|
||
char _Vendor[4];
|
||
uint8_t _VesselType;
|
||
double _Length;
|
||
double _Beam;
|
||
double _PosRefStbd;
|
||
double _PosRefBow;
|
||
|
||
if (ParseN2kPGN129810(N2kMsg, _MessageID, _Repeat, _UserID, _VesselType, _Vendor, _Callsign,
|
||
_Length, _Beam, _PosRefStbd, _PosRefBow, _MothershipID))
|
||
{
|
||
|
||
//
|
||
#ifdef SERIAL_PRINT_AIS_FIELDS
|
||
// Debug Print N2k Values
|
||
Serial.println("––––––––––––––––––––––– Msg 24 ––––––––––––––––––––––––––––––––");
|
||
Serial.print("MessageID: ");
|
||
Serial.println(_MessageID);
|
||
Serial.print("Repeat: ");
|
||
Serial.println(_Repeat);
|
||
Serial.print("UserID: ");
|
||
Serial.println(_UserID);
|
||
Serial.print("VesselType: ");
|
||
Serial.println(_VesselType);
|
||
Serial.print("Vendor: ");
|
||
Serial.println(_Vendor);
|
||
Serial.print("Callsign: ");
|
||
Serial.println(_Callsign);
|
||
Serial.print("Length: ");
|
||
Serial.println(_Length);
|
||
Serial.print("Beam: ");
|
||
Serial.println(_Beam);
|
||
Serial.print("PosRefStbd: ");
|
||
Serial.println(_PosRefStbd);
|
||
Serial.print("PosRefBow: ");
|
||
Serial.println(_PosRefBow);
|
||
Serial.print("MothershipID: ");
|
||
Serial.println(_MothershipID);
|
||
Serial.println("––––––––––––––––––––––– Msg 24 ––––––––––––––––––––––––––––––––");
|
||
#endif
|
||
|
||
tNMEA0183AISMsg NMEA0183AISMsg;
|
||
|
||
if (SetAISClassBMessage24(NMEA0183AISMsg, _MessageID, _Repeat, _UserID, _VesselType, _Vendor, _Callsign,
|
||
_Length, _Beam, _PosRefStbd, _PosRefBow, _MothershipID))
|
||
{
|
||
|
||
SendMessage(NMEA0183AISMsg.BuildMsg24PartA(NMEA0183AISMsg));
|
||
|
||
#ifdef SERIAL_PRINT_AIS_NMEA
|
||
// Debug Print AIS-NMEA
|
||
char buf[7];
|
||
Serial.print(NMEA0183AISMsg.GetPrefix());
|
||
Serial.print(NMEA0183AISMsg.Sender());
|
||
Serial.print(NMEA0183AISMsg.MessageCode());
|
||
for (int i = 0; i < NMEA0183AISMsg.FieldCount(); i++)
|
||
{
|
||
Serial.print(",");
|
||
Serial.print(NMEA0183AISMsg.Field(i));
|
||
}
|
||
sprintf(buf, "*%02X\r\n", NMEA0183AISMsg.GetCheckSum());
|
||
Serial.print(buf);
|
||
#endif
|
||
|
||
SendMessage(NMEA0183AISMsg.BuildMsg24PartB(NMEA0183AISMsg));
|
||
|
||
#ifdef SERIAL_PRINT_AIS_NMEA
|
||
Serial.print(NMEA0183AISMsg.GetPrefix());
|
||
Serial.print(NMEA0183AISMsg.Sender());
|
||
Serial.print(NMEA0183AISMsg.MessageCode());
|
||
for (int i = 0; i < NMEA0183AISMsg.FieldCount(); i++)
|
||
{
|
||
Serial.print(",");
|
||
Serial.print(NMEA0183AISMsg.Field(i));
|
||
}
|
||
sprintf(buf, "*%02X\r\n", NMEA0183AISMsg.GetCheckSum());
|
||
Serial.print(buf);
|
||
#endif
|
||
}
|
||
}
|
||
return;
|
||
}
|
||
|
||
|
||
void registerConverters()
|
||
{
|
||
//register all converter functions
|
||
//for each vonverter you should have a member with the N2KMsg as parameter
|
||
//and register it here
|
||
//with this approach we easily have a list of all handled
|
||
//pgns
|
||
converters.registerConverter(127250UL, &N2kToNMEA0183Functions::HandleHeading);
|
||
converters.registerConverter(127258UL, &N2kToNMEA0183Functions::HandleVariation);
|
||
converters.registerConverter(128259UL, &N2kToNMEA0183Functions::HandleBoatSpeed);
|
||
converters.registerConverter(128267UL, &N2kToNMEA0183Functions::HandleDepth);
|
||
converters.registerConverter(129025UL, &N2kToNMEA0183Functions::HandlePosition);
|
||
converters.registerConverter(129026UL, &N2kToNMEA0183Functions::HandleCOGSOG);
|
||
converters.registerConverter(129029UL, &N2kToNMEA0183Functions::HandleGNSS);
|
||
converters.registerConverter(130306UL, &N2kToNMEA0183Functions::HandleWind);
|
||
converters.registerConverter(128275UL, &N2kToNMEA0183Functions::HandleLog);
|
||
converters.registerConverter(127245UL, &N2kToNMEA0183Functions::HandleRudder);
|
||
converters.registerConverter(130310UL, &N2kToNMEA0183Functions::HandleWaterTemp);
|
||
#define HANDLE_AIS
|
||
#ifdef HANDLE_AIS
|
||
converters.registerConverter(129038UL, &N2kToNMEA0183Functions::HandleAISClassAPosReport); // AIS Class A Position Report, Message Type 1
|
||
converters.registerConverter(129039UL, &N2kToNMEA0183Functions::HandleAISClassBMessage18); // AIS Class B Position Report, Message Type 18
|
||
converters.registerConverter(129794UL, &N2kToNMEA0183Functions::HandleAISClassAMessage5); // AIS Class A Ship Static and Voyage related data, Message Type 5
|
||
converters.registerConverter(129809UL, &N2kToNMEA0183Functions::HandleAISClassBMessage24A); // AIS Class B "CS" Static Data Report, Part A
|
||
converters.registerConverter(129810UL, &N2kToNMEA0183Functions::HandleAISClassBMessage24B); // AIS Class B "CS" Static Data Report, Part B
|
||
#endif
|
||
}
|
||
|
||
public:
|
||
N2kToNMEA0183Functions(GwLog *logger, GwBoatData *boatData, tNMEA2000 *NMEA2000, tSendNMEA0183MessageCallback callback, int sourceId)
|
||
: N2kDataToNMEA0183(logger, boatData, NMEA2000, callback,sourceId)
|
||
{
|
||
LastPosSend = 0;
|
||
lastLoopTime = 0;
|
||
NextRMCSend = millis() + RMCPeriod;
|
||
|
||
this->logger = logger;
|
||
this->boatData = boatData;
|
||
registerConverters();
|
||
}
|
||
virtual void loop()
|
||
{
|
||
N2kDataToNMEA0183::loop();
|
||
unsigned long now = millis();
|
||
if (now < (lastLoopTime + 100))
|
||
return;
|
||
lastLoopTime = now;
|
||
SendRMC();
|
||
}
|
||
};
|
||
|
||
|
||
N2kDataToNMEA0183* N2kDataToNMEA0183::create(GwLog *logger, GwBoatData *boatData, tNMEA2000 *NMEA2000,
|
||
tSendNMEA0183MessageCallback callback, int sourceId){
|
||
LOG_DEBUG(GwLog::LOG,"creating N2kToNMEA0183");
|
||
return new N2kToNMEA0183Functions(logger,boatData,NMEA2000,callback, sourceId);
|
||
}
|
||
//*****************************************************************************
|