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esp32-nmea2000-obp60
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esp32-nmea2000-obp60/src/main.cpp

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/*
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
*/
#define VERSION "0.2.1"
//#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"
#include <Arduino.h>
#include <NMEA2000_CAN.h> // This will automatically choose right CAN library and create suitable NMEA2000 object
#include <Seasmart.h>
#include <N2kMessages.h>
#include <WiFi.h>
#include <ESPAsyncWebServer.h>
#include <Preferences.h>
#include <ArduinoJson.h>
#include <ESPmDNS.h>
#include <map>
#include "esp_heap_caps.h"
#include "N2kDataToNMEA0183.h"
#include "GwLog.h"
#include "GWConfig.h"
#include "GWWifi.h"
#include "GwSocketServer.h"
#include "GwBoatData.h"
#include "GwMessage.h"
#include "GwSerial.h"
#include "GwWebServer.h"
//NMEA message channels
#define N2K_CHANNEL_ID 0
#define USB_CHANNEL_ID 1
#define SERIAL1_CHANNEL_ID 2
#define MIN_TCP_CHANNEL_ID 3
typedef std::map<String,String> StringMap;
GwLog logger(GwLog::DEBUG,NULL);
GwConfigHandler config(&logger);
GwWifi gwWifi(&config,&logger);
GwSocketServer socketServer(&config,&logger,MIN_TCP_CHANNEL_ID);
GwBoatData boatData(&logger);
//counter
int numCan=0;
int NodeAddress; // To store last Node Address
Preferences preferences; // Nonvolatile storage on ESP32 - To store LastDeviceAddress
bool SendNMEA0183Conversion = true; // Do we send NMEA2000 -> NMEA0183 conversion
bool SendSeaSmart = false; // Do we send NMEA2000 messages in SeaSmart format
N2kDataToNMEA0183 *nmea0183Converter=NULL;
// Set the information for other bus devices, which messages we support
const unsigned long TransmitMessages[] PROGMEM = {127489L, // Engine dynamic
0
};
// Forward declarations
void HandleNMEA2000Msg(const tN2kMsg &N2kMsg);
void SendNMEA0183Message(const tNMEA0183Msg &NMEA0183Msg,int id);
GwRequestQueue mainQueue(&logger,20);
GwWebServer webserver(&logger,&mainQueue,80);
// Serial port 2 config (GPIO 16)
const int baudrate = 38400;
const int rs_config = SERIAL_8N1;
// Buffer config
#define MAX_NMEA0183_MESSAGE_SIZE 150 // For AIS
char buff[MAX_NMEA0183_MESSAGE_SIZE];
tNMEA0183 NMEA0183;
GwConfigInterface *sendUsb=NULL;
GwConfigInterface *sendTCP=NULL;
GwConfigInterface *sendSeasmart=NULL;
GwConfigInterface *systemName=NULL;
GwSerial usbSerial(NULL, UART_NUM_0, USB_CHANNEL_ID);
class GwSerialLog : public GwLogWriter{
public:
virtual ~GwSerialLog(){}
virtual void write(const char *data){
usbSerial.sendToClients(data,-1); //ignore any errors
}
};
void delayedRestart(){
xTaskCreate([](void *p){
delay(500);
ESP.restart();
vTaskDelete(NULL);
},"reset",1000,NULL,0,NULL);
}
#define JSON_OK "{\"status\":\"OK\"}"
//register the requests at the webserver that should
//be processed inside the main loop
//this prevents us from the need to sync all the accesses
class ResetRequest : public GwRequestMessage
{
public:
ResetRequest() : GwRequestMessage(F("application/json"),F("reset")){};
protected:
virtual void processRequest()
{
logger.logDebug(GwLog::LOG, "Reset Button");
result = JSON_OK;
delayedRestart();
}
};
class StatusRequest : public GwRequestMessage
{
public:
StatusRequest() : GwRequestMessage(F("application/json"),F("status")){};
protected:
virtual void processRequest()
{
int numPgns = nmea0183Converter->numPgns();
DynamicJsonDocument status(256 + numPgns * 50);
status["numcan"] = numCan;
status["version"] = VERSION;
status["wifiConnected"] = gwWifi.clientConnected();
status["clientIP"] = WiFi.localIP().toString();
status["numClients"] = socketServer.numClients();
status["apIp"] = gwWifi.apIP();
nmea0183Converter->toJson(status);
serializeJson(status, result);
}
};
class ConfigRequest : public GwRequestMessage
{
public:
ConfigRequest() : GwRequestMessage(F("application/json"),F("config")){};
protected:
virtual void processRequest()
{
result = config.toJson();
}
};
class SetConfigRequest : public GwRequestMessage
{
public:
SetConfigRequest() : GwRequestMessage(F("application/json"),F("setConfig")){};
StringMap args;
protected:
virtual void processRequest()
{
bool ok = true;
String error;
for (StringMap::iterator it = args.begin(); it != args.end(); it++)
{
bool rt = config.updateValue(it->first, it->second);
if (!rt)
{
logger.logString("ERR: unable to update %s to %s", it->first.c_str(), it->second.c_str());
ok = false;
error += it->first;
error += "=";
error += it->second;
error += ",";
}
}
if (ok)
{
result = JSON_OK;
logger.logString("update config and restart");
config.saveConfig();
delayedRestart();
}
else
{
DynamicJsonDocument rt(100);
rt["status"] = error;
serializeJson(rt, result);
}
}
};
class ResetConfigRequest : public GwRequestMessage
{
public:
ResetConfigRequest() : GwRequestMessage(F("application/json"),F("resetConfig")){};
protected:
virtual void processRequest()
{
config.reset(true);
logger.logString("reset config, restart");
result = JSON_OK;
delayedRestart();
}
};
class BoatDataRequest : public GwRequestMessage
{
public:
BoatDataRequest() : GwRequestMessage(F("application/json"),F("boatData")){};
protected:
virtual void processRequest()
{
result = boatData.toJson();
}
};
void setup() {
uint8_t chipid[6];
uint32_t id = 0;
config.loadConfig();
// Init USB serial port
GwConfigInterface *usbBaud=config.getConfigItem(config.usbBaud,false);
int baud=115200;
if (usbBaud){
baud=usbBaud->asInt();
}
#ifdef FALLBACK_SERIAL
int st=-1;
#else
int st=usbSerial.setup(baud,3,1); //TODO: PIN defines
#endif
if (st < 0){
//falling back to old style serial for logging
Serial.begin(baud);
Serial.printf("fallback serial enabled, error was %d\n",st);
logger.prefix="FALLBACK:";
}
else{
GwSerialLog *writer=new GwSerialLog();
logger.prefix="GWSERIAL:";
logger.setWriter(writer);
logger.logDebug(GwLog::LOG,"created GwSerial for USB port");
}
logger.logDebug(GwLog::LOG,"config: %s", config.toString().c_str());
sendUsb=config.getConfigItem(config.sendUsb,true);
sendTCP=config.getConfigItem(config.sendTCP,true);
sendSeasmart=config.getConfigItem(config.sendSeasmart,true);
systemName=config.getConfigItem(config.systemName,true);
MDNS.begin(config.getConfigItem(config.systemName)->asCString());
gwWifi.setup();
// Start TCP server
socketServer.begin();
webserver.registerMainHandler("/api/reset", [](AsyncWebServerRequest *request)->GwRequestMessage *{
return new ResetRequest();
});
webserver.registerMainHandler("/api/status", [](AsyncWebServerRequest *request)->GwRequestMessage *
{ return new StatusRequest(); });
webserver.registerMainHandler("/api/config", [](AsyncWebServerRequest *request)->GwRequestMessage *
{ return new ConfigRequest(); });
webserver.registerMainHandler("/api/setConfig",
[](AsyncWebServerRequest *request)->GwRequestMessage *
{
StringMap args;
for (int i = 0; i < request->args(); i++)
{
args[request->argName(i)] = request->arg(i);
}
SetConfigRequest *msg = new SetConfigRequest();
msg->args = args;
return msg;
});
webserver.registerMainHandler("/api/resetConfig", [](AsyncWebServerRequest *request)->GwRequestMessage *
{ return new ResetConfigRequest(); });
webserver.registerMainHandler("/api/boatData", [](AsyncWebServerRequest *request)->GwRequestMessage *
{ return new BoatDataRequest(); });
webserver.begin();
nmea0183Converter= N2kDataToNMEA0183::create(&logger, &boatData,&NMEA2000, 0, N2K_CHANNEL_ID);
// Reserve enough buffer for sending all messages. This does not work on small memory devices like Uno or Mega
NMEA2000.SetN2kCANMsgBufSize(8);
NMEA2000.SetN2kCANReceiveFrameBufSize(250);
NMEA2000.SetN2kCANSendFrameBufSize(250);
esp_efuse_read_mac(chipid);
for (int i = 0; i < 6; i++) id += (chipid[i] << (7 * i));
// Set product information
NMEA2000.SetProductInformation("1", // Manufacturer's Model serial code
100, // Manufacturer's product code
systemName->asCString(), // Manufacturer's Model ID
VERSION, // Manufacturer's Software version code
VERSION // Manufacturer's Model version
);
// Set device information
NMEA2000.SetDeviceInformation(id, // Unique number. Use e.g. Serial number. Id is generated from MAC-Address
130, // Device function=Analog to NMEA 2000 Gateway. See codes on http://www.nmea.org/Assets/20120726%20nmea%202000%20class%20&%20function%20codes%20v%202.00.pdf
25, // Device class=Inter/Intranetwork Device. See codes on http://www.nmea.org/Assets/20120726%20nmea%202000%20class%20&%20function%20codes%20v%202.00.pdf
2046 // Just choosen free from code list on http://www.nmea.org/Assets/20121020%20nmea%202000%20registration%20list.pdf
);
// If you also want to see all traffic on the bus use N2km_ListenAndNode instead of N2km_NodeOnly below
NMEA2000.SetForwardType(tNMEA2000::fwdt_Text); // Show in clear text. Leave uncommented for default Actisense format.
preferences.begin("nvs", false); // Open nonvolatile storage (nvs)
NodeAddress = preferences.getInt("LastNodeAddress", 32); // Read stored last NodeAddress, default 32
preferences.end();
logger.logDebug(GwLog::LOG,"NodeAddress=%d\n", NodeAddress);
NMEA2000.SetMode(tNMEA2000::N2km_ListenAndNode, NodeAddress);
NMEA2000.ExtendTransmitMessages(TransmitMessages);
NMEA2000.ExtendReceiveMessages(nmea0183Converter->handledPgns());
NMEA2000.AttachMsgHandler(nmea0183Converter); // NMEA 2000 -> NMEA 0183 conversion
NMEA2000.SetMsgHandler(HandleNMEA2000Msg); // Also send all NMEA2000 messages in SeaSmart format
nmea0183Converter->SetSendNMEA0183MessageCallback(SendNMEA0183Message);
NMEA2000.Open();
}
//*****************************************************************************
#define MAX_NMEA2000_MESSAGE_SEASMART_SIZE 500
//*****************************************************************************
//NMEA 2000 message handler
void HandleNMEA2000Msg(const tN2kMsg &N2kMsg) {
numCan++;
if ( !sendSeasmart->asBoolean() ) return;
char buf[MAX_NMEA2000_MESSAGE_SEASMART_SIZE];
if ( N2kToSeasmart(N2kMsg, millis(), buf, MAX_NMEA2000_MESSAGE_SEASMART_SIZE) == 0 ) return;
socketServer.sendToClients(buf,N2K_CHANNEL_ID);
}
void sendBufferToChannels(const char * buffer, int sourceId){
if (sendTCP->asBoolean()){
socketServer.sendToClients(buffer,sourceId);
}
if (sendUsb->asBoolean()){
usbSerial.sendToClients(buffer,sourceId);
}
}
//*****************************************************************************
void SendNMEA0183Message(const tNMEA0183Msg &NMEA0183Msg, int sourceId) {
if ( ! sendTCP->asBoolean() && ! sendUsb->asBoolean() ) return;
char buf[MAX_NMEA0183_MESSAGE_SIZE+3];
if ( !NMEA0183Msg.GetMessage(buf, MAX_NMEA0183_MESSAGE_SIZE) ) return;
size_t len=strlen(buf);
buf[len]=0x0d;
buf[len+1]=0x0a;
buf[len+2]=0;
sendBufferToChannels(buf,sourceId);
}
void handleReceivedNmeaMessage(const char *buf, int sourceId){
//TODO - for now only send out again
//add the conversion to N2K here
sendBufferToChannels(buf,sourceId);
}
void handleSendAndRead(bool handleRead){
socketServer.loop(handleRead);
usbSerial.loop(handleRead);
}
class NMEAMessageReceiver : public GwBufferWriter{
uint8_t buffer[GwBuffer::RX_BUFFER_SIZE+4];
uint8_t *writePointer=buffer;
public:
virtual int write(const uint8_t *buffer,size_t len){
size_t toWrite=GwBuffer::RX_BUFFER_SIZE-(writePointer-buffer);
if (toWrite > len) toWrite=len;
memcpy(writePointer,buffer,toWrite);
writePointer+=toWrite;
*writePointer=0;
return toWrite;
}
virtual void done(){
if (writePointer == buffer) return;
uint8_t *p;
for (p=writePointer-1;p>=buffer && *p <= 0x20;p--){
*p=0;
}
if (p > buffer){
p++;
*p=0x0d;
p++;
*p=0x0a;
p++;
*p=0;
}
for (p=buffer; *p != 0 && p < writePointer && *p <= 0x20;p++){}
//very simple NMEA check
if (*p != '!' && *p != '$'){
logger.logDebug(GwLog::DEBUG,"unknown line [%d] - ignore: %s",id,(const char *)p);
}
else{
logger.logDebug(GwLog::DEBUG,"NMEA[%d]: %s",id,(const char *)p);
handleReceivedNmeaMessage((const char *)p,id);
//trigger sending to empty buffers
handleSendAndRead(false);
}
writePointer=buffer;
}
};
NMEAMessageReceiver receiver;
unsigned long lastHeapReport=0;
void loop() {
gwWifi.loop();
unsigned long now=millis();
if (HEAP_REPORT_TIME > 0 && now > (lastHeapReport+HEAP_REPORT_TIME)){
lastHeapReport=now;
if (logger.isActive(GwLog::DEBUG)){
logger.logDebug(GwLog::DEBUG,"Heap free=%ld, minFree=%ld",
(long)xPortGetFreeHeapSize(),
(long)xPortGetMinimumEverFreeHeapSize()
);
}
}
handleSendAndRead(true);
NMEA2000.ParseMessages();
int SourceAddress = NMEA2000.GetN2kSource();
if (SourceAddress != NodeAddress) { // Save potentially changed Source Address to NVS memory
NodeAddress = SourceAddress; // Set new Node Address (to save only once)
preferences.begin("nvs", false);
preferences.putInt("LastNodeAddress", SourceAddress);
preferences.end();
logger.logDebug(GwLog::LOG,"Address Change: New Address=%d\n", SourceAddress);
}
nmea0183Converter->loop();
//read channels
socketServer.readMessages(&receiver);
usbSerial.readMessages(&receiver);
//handle message requests
GwMessage *msg=mainQueue.fetchMessage(0);
if (msg){
msg->process();
msg->unref();
}
}
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