OpenCPN Partial API docs
Loading...
Searching...
No Matches
comm_decoder.cpp
1/***************************************************************************
2 *
3 * Project: OpenCPN
4 * Purpose:
5 * Author: David Register, Alec Leamas
6 *
7 ***************************************************************************
8 * Copyright (C) 2022 by David Register, Alec Leamas *
9 * *
10 * This program is free software; you can redistribute it and/or modify *
11 * it under the terms of the GNU General Public License as published by *
12 * the Free Software Foundation; either version 2 of the License, or *
13 * (at your option) any later version. *
14 * *
15 * This program is distributed in the hope that it will be useful, *
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
18 * GNU General Public License for more details. *
19 * *
20 * You should have received a copy of the GNU General Public License *
21 * along with this program; if not, write to the *
22 * Free Software Foundation, Inc., *
23 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. *
24 **************************************************************************/
25
26#include <wx/wxprec.h>
27
28#ifndef WX_PRECOMP
29#include <wx/wx.h>
30#endif // precompiled headers
31
32#include <wx/log.h>
33#include <wx/math.h>
34#include <wx/string.h>
35
36#include "rapidjson/document.h"
37
38#include "comm_decoder.h"
39#include "comm_util.h"
40#include "comm_vars.h"
41#include "geodesic.h"
42#include "own_ship.h"
43
44
45bool CommDecoder::ParsePosition(const LATLONG& Position, double& lat,
46 double& lon) {
47 bool ll_valid = true;
48 double llt = Position.Latitude.Latitude;
49
50 if (!std::isnan(llt)) {
51 int lat_deg_int = (int)(llt / 100);
52 double lat_deg = lat_deg_int;
53 double lat_min = llt - (lat_deg * 100);
54
55 lat = lat_deg + (lat_min / 60.);
56 if (Position.Latitude.Northing == South) lat = -lat;
57 } else
58 ll_valid = false;
59
60 double lln = Position.Longitude.Longitude;
61 if (!std::isnan(lln)) {
62 int lon_deg_int = (int)(lln / 100);
63 double lon_deg = lon_deg_int;
64 double lon_min = lln - (lon_deg * 100);
65
66 lon = lon_deg + (lon_min / 60.);
67 if (Position.Longitude.Easting == West) lon = -lon;
68 } else
69 ll_valid = false;
70
71 return ll_valid;
72}
73
74bool CommDecoder::DecodeRMC(std::string s, NavData& temp_data) {
75 wxString sentence(s.c_str());
76 wxString sentence3 = ProcessNMEA4Tags(sentence);
77 m_NMEA0183 << sentence3;
78
79 if (!m_NMEA0183.PreParse()) return false;
80 if (!m_NMEA0183.Parse()) return false;
81
82 if (m_NMEA0183.Rmc.IsDataValid == NTrue) {
83 double tlat, tlon;
84 if (ParsePosition(m_NMEA0183.Rmc.Position, tlat, tlon)) {
85 temp_data.gLat = tlat;
86 temp_data.gLon = tlon;
87 } else
88 return false;
89
90 // FIXME (dave) if (!g_own_ship_sog_cog_calc )
91 {
92 if (!std::isnan(m_NMEA0183.Rmc.SpeedOverGroundKnots)) {
93 temp_data.gSog = m_NMEA0183.Rmc.SpeedOverGroundKnots;
94 }
95 if (!std::isnan(temp_data.gSog) && (temp_data.gSog > 0)) {
96 temp_data.gCog = m_NMEA0183.Rmc.TrackMadeGoodDegreesTrue;
97 } else {
98 temp_data.gCog = NAN;
99 }
100 }
101 // Any device sending VAR=0.0 can be assumed to not really know
102 // what the actual variation is, so in this case we use WMM if
103 // available
104 if ((!std::isnan(m_NMEA0183.Rmc.MagneticVariation)) &&
105 0.0 != m_NMEA0183.Rmc.MagneticVariation) {
106 if (m_NMEA0183.Rmc.MagneticVariationDirection == East)
107 temp_data.gVar = m_NMEA0183.Rmc.MagneticVariation;
108 else if (m_NMEA0183.Rmc.MagneticVariationDirection == West)
109 temp_data.gVar = -m_NMEA0183.Rmc.MagneticVariation;
110
111 g_bVAR_Rx = true;
112 }
113
114 gRmcTime = m_NMEA0183.Rmc.UTCTime;
115 gRmcDate = m_NMEA0183.Rmc.Date;
116 } else
117 return false;
118
119 return true;
120}
121
122bool CommDecoder::DecodeHDM(std::string s, NavData& temp_data) {
123 wxString sentence(s.c_str());
124 wxString sentence3 = ProcessNMEA4Tags(sentence);
125 m_NMEA0183 << sentence3;
126
127 if (!m_NMEA0183.PreParse()) return false;
128 if (!m_NMEA0183.Parse()) return false;
129
130 temp_data.gHdm = m_NMEA0183.Hdm.DegreesMagnetic;
131
132 return true;
133}
134
135bool CommDecoder::DecodeHDT(std::string s, NavData& temp_data) {
136 wxString sentence(s.c_str());
137 wxString sentence3 = ProcessNMEA4Tags(sentence);
138 m_NMEA0183 << sentence3;
139
140 if (!m_NMEA0183.PreParse()) return false;
141 if (!m_NMEA0183.Parse()) return false;
142
143 temp_data.gHdt = m_NMEA0183.Hdt.DegreesTrue;
144
145 return true;
146}
147
148bool CommDecoder::DecodeHDG(std::string s, NavData& temp_data) {
149 wxString sentence(s.c_str());
150 wxString sentence3 = ProcessNMEA4Tags(sentence);
151 m_NMEA0183 << sentence3;
152
153 if (!m_NMEA0183.PreParse()) return false;
154 if (!m_NMEA0183.Parse()) return false;
155
156 temp_data.gHdm = m_NMEA0183.Hdg.MagneticSensorHeadingDegrees;
157
158 // Any device sending VAR=0.0 can be assumed to not really know
159 // what the actual variation is, so in this case we use WMM if
160 // available
161 if ((!std::isnan(m_NMEA0183.Hdg.MagneticVariationDegrees)) &&
162 0.0 != m_NMEA0183.Hdg.MagneticVariationDegrees) {
163 if (m_NMEA0183.Hdg.MagneticVariationDirection == East)
164 temp_data.gVar = m_NMEA0183.Hdg.MagneticVariationDegrees;
165 else if (m_NMEA0183.Hdg.MagneticVariationDirection == West)
166 temp_data.gVar = -m_NMEA0183.Hdg.MagneticVariationDegrees;
167
168 g_bVAR_Rx = true;
169 }
170
171 return true;
172}
173
174bool CommDecoder::DecodeVTG(std::string s, NavData& temp_data) {
175 wxString sentence(s.c_str());
176 wxString sentence3 = ProcessNMEA4Tags(sentence);
177 m_NMEA0183 << sentence3;
178
179 if (!m_NMEA0183.PreParse()) return false;
180 if (!m_NMEA0183.Parse()) return false;
181
182 // FIXME (dave)if (g_own_ship_sog_cog_calc) return false;
183
184 if (!std::isnan(m_NMEA0183.Vtg.SpeedKnots)) temp_data.gSog = m_NMEA0183.Vtg.SpeedKnots;
185
186 if (!std::isnan(m_NMEA0183.Vtg.SpeedKnots) &&
187 !std::isnan(m_NMEA0183.Vtg.TrackDegreesTrue)) {
188 temp_data.gCog = m_NMEA0183.Vtg.TrackDegreesTrue;
189 }
190
191 return true;
192}
193
194bool CommDecoder::DecodeGLL(std::string s, NavData& temp_data) {
195 wxString sentence(s.c_str());
196 wxString sentence3 = ProcessNMEA4Tags(sentence);
197 m_NMEA0183 << sentence3;
198
199 if (!m_NMEA0183.PreParse()) return false;
200 if (!m_NMEA0183.Parse()) return false;
201
202 if (m_NMEA0183.Gll.IsDataValid == NTrue) {
203 double tlat, tlon;
204 if (ParsePosition(m_NMEA0183.Gll.Position, tlat, tlon)) {
205 temp_data.gLat = tlat;
206 temp_data.gLon = tlon;
207 } else
208 return false;
209 } else
210 return false;
211
212 return true;
213}
214
215bool CommDecoder::DecodeGSV(std::string s, NavData& temp_data) {
216 wxString sentence(s.c_str());
217 wxString sentence3 = ProcessNMEA4Tags(sentence);
218 m_NMEA0183 << sentence3;
219
220 if (!m_NMEA0183.PreParse()) return false;
221 if (!m_NMEA0183.Parse()) return false;
222
223 if (m_NMEA0183.Gsv.MessageNumber == 1)
224 temp_data.n_satellites = m_NMEA0183.Gsv.SatsInView;
225
226 return true;
227}
228
229bool CommDecoder::DecodeGGA(std::string s, NavData& temp_data) {
230 wxString sentence(s.c_str());
231 wxString sentence3 = ProcessNMEA4Tags(sentence);
232 m_NMEA0183 << sentence3;
233
234 if (!m_NMEA0183.PreParse()) return false;
235 if (!m_NMEA0183.Parse()) return false;
236
237 if (m_NMEA0183.Gga.GPSQuality > 0) {
238 double tlat, tlon;
239 if (ParsePosition(m_NMEA0183.Gga.Position, tlat, tlon)) {
240 temp_data.gLat = tlat;
241 temp_data.gLon = tlon;
242 } else
243 return false;
244
245 temp_data.n_satellites = m_NMEA0183.Gga.NumberOfSatellitesInUse;
246
247 } else
248 return false;
249
250 return true;
251}
252
253
254//---------------------------------------------------------------------
255// NMEA2000 PGN Decode
256//---------------------------------------------------------------------
257
258bool CommDecoder::DecodePGN129026(std::vector<unsigned char> v, NavData& temp_data) {
259
260 unsigned char SID;
261 tN2kHeadingReference ref;
262 double COG, SOG;
263
264 if (ParseN2kPGN129026(v, SID, ref, COG, SOG)) {
265 temp_data.gCog = COG;
266 temp_data.gSog = SOG;
267 temp_data.SID = SID;
268 return true;
269 }
270
271 return false;
272}
273
274bool CommDecoder::DecodePGN129029(std::vector<unsigned char> v, NavData& temp_data) {
275 unsigned char SID;
276 uint16_t DaysSince1970;
277 double SecondsSinceMidnight;
278 double Latitude, Longitude, Altitude;
279 tN2kGNSStype GNSStype;
280 tN2kGNSSmethod GNSSmethod;
281 unsigned char nSatellites;
282 double HDOP, PDOP, GeoidalSeparation;
283 unsigned char nReferenceStations;
284 tN2kGNSStype ReferenceStationType;
285 uint16_t ReferenceSationID;
286 double AgeOfCorrection;
287
288 if (ParseN2kPGN129029(v, SID, DaysSince1970, SecondsSinceMidnight,
289 Latitude, Longitude, Altitude,
290 GNSStype, GNSSmethod,
291 nSatellites, HDOP, PDOP, GeoidalSeparation,
292 nReferenceStations, ReferenceStationType, ReferenceSationID,
293 AgeOfCorrection
294 )) {
295 temp_data.gLat = Latitude;
296 temp_data.gLon = Longitude;
297 temp_data.SID = SID;
298
299 // Some devices produce "0" satelites for PGN 129029, even with a vaild fix
300 // One supposes that PGN 129540 should be used instead
301 // Here we decide that if a fix is valid, nSatellites must be > 0 to be
302 // reported in this PGN 129029
303 if ( (GNSSmethod == N2kGNSSm_GNSSfix) ||
304 (GNSSmethod == N2kGNSSm_DGNSS) ||
305 (GNSSmethod == N2kGNSSm_PreciseGNSS)){
306 if (nSatellites > 0)
307 temp_data.n_satellites = nSatellites;
308 }
309
310 return true;
311 }
312
313 return false;
314}
315
316bool CommDecoder::DecodePGN127250(std::vector<unsigned char> v, NavData& temp_data) {
317
318 unsigned char SID;
319 double Heading, Deviation, Variation;
320 tN2kHeadingReference ref;
321
322 if (ParseN2kPGN127250(v, SID, Heading, Deviation, Variation, ref)){
323 temp_data.gHdt = N2kDoubleNA;
324 temp_data.gHdm = N2kDoubleNA;
325 if (ref == tN2kHeadingReference::N2khr_true)
326 temp_data.gHdt = Heading;
327 else if (ref == tN2kHeadingReference::N2khr_magnetic)
328 temp_data.gHdm = Heading;
329
330 temp_data.gVar = Variation;
331 temp_data.SID = SID;
332 return true;
333 }
334
335 return false;
336}
337
338bool CommDecoder::DecodePGN129025(std::vector<unsigned char> v, NavData& temp_data) {
339
340 double Latitude, Longitude;
341
342 if (ParseN2kPGN129025(v, Latitude, Longitude)){
343
344 temp_data.gLat = Latitude;
345 temp_data.gLon = Longitude;
346 return true;
347 }
348
349 return false;
350}
351
352bool CommDecoder::DecodePGN129540(std::vector<unsigned char> v, NavData& temp_data) {
353
354 unsigned char SID;
355 uint8_t NumberOfSVs;;
356 tN2kRangeResidualMode Mode;
357
358 if (ParseN2kPGN129540(v, SID, Mode, NumberOfSVs)) {
359 temp_data.n_satellites = NumberOfSVs;
360 temp_data.SID = SID;
361 return true;
362 }
363
364 return false;
365}
366
367bool CommDecoder::DecodeSignalK(std::string s, NavData& temp_data){
368 rapidjson::Document root;
369
370 root.Parse(s);
371 if (root.HasParseError())
372 return false;
373
374 if (root.HasMember("updates") && root["updates"].IsArray()) {
375 for (rapidjson::Value::ConstValueIterator itr = root["updates"].Begin(); itr != root["updates"].End(); ++itr) {
376 handleUpdate(*itr, temp_data);
377 }
378 }
379
380 return true;
381}
382
383void CommDecoder::handleUpdate(const rapidjson::Value &update, NavData& temp_data) {
384 wxString sfixtime = "";
385
386 if (update.HasMember("timestamp")) {
387 sfixtime = update["timestamp"].GetString();
388 }
389 if (update.HasMember("values") && update["values"].IsArray()) {
390 for (rapidjson::Value::ConstValueIterator itr = update["values"].Begin(); itr != update["values"].End(); ++itr) {
391 updateItem(*itr, sfixtime, temp_data);
392 }
393 }
394}
395
396void CommDecoder::updateItem(const rapidjson::Value &item,
397 wxString &sfixtime, NavData& temp_data) {
398 bool bposValid = false;
399 if (item.HasMember("path") && item.HasMember("value")) {
400 const wxString &update_path = item["path"].GetString();
401
402 if (update_path == _T("navigation.position") && !item["value"].IsNull()) {
403 bposValid = updateNavigationPosition(item["value"], sfixtime, temp_data);
404 } else if (update_path == _T("navigation.speedOverGround") &&
405 /*bposValid &&*/ !item["value"].IsNull()) {
406 updateNavigationSpeedOverGround(item["value"], sfixtime, temp_data);
407 } else if (update_path == _T("navigation.courseOverGroundTrue") &&
408 /*bposValid &&*/ !item["value"].IsNull()) {
409 updateNavigationCourseOverGround(item["value"], sfixtime, temp_data);
410 } else if (update_path == _T("navigation.courseOverGroundMagnetic")) {
411 }
412 else if (update_path ==
413 _T("navigation.gnss.satellites")) // From GGA sats in use
414 {
415 updateGnssSatellites(item["value"], sfixtime, temp_data);
416 } else if (update_path ==
417 _T("navigation.gnss.satellitesInView")) // From GSV sats in view
418 {
419 updateGnssSatellites(item["value"], sfixtime, temp_data);
420 } else if (update_path == _T("navigation.headingTrue")) {
421 if(!item["value"].IsNull())
422 updateHeadingTrue(item["value"], sfixtime, temp_data);
423 } else if (update_path == _T("navigation.headingMagnetic")) {
424 if(!item["value"].IsNull())
425 updateHeadingMagnetic(item["value"], sfixtime, temp_data);
426 } else if (update_path == _T("navigation.magneticVariation")) {
427 if(!item["value"].IsNull())
428 updateMagneticVariance(item["value"], sfixtime, temp_data);
429 } else {
430 // wxLogMessage(wxString::Format(_T("** Signal K unhandled update: %s"),
431 // update_path));
432 }
433 }
434}
435
436bool CommDecoder::updateNavigationPosition(
437 const rapidjson::Value &value, const wxString &sfixtime, NavData& temp_data) {
438 if ((value.HasMember("latitude") && value["latitude"].IsDouble()) &&
439 (value.HasMember("longitude") && value["longitude"].IsDouble())) {
440 // wxLogMessage(_T(" ***** Position Update"));
441 temp_data.gLat = value["latitude"].GetDouble();
442 temp_data.gLon = value["longitude"].GetDouble();
443 return true;
444 } else {
445 return false;
446 }
447}
448
449
450void CommDecoder::updateNavigationSpeedOverGround(
451 const rapidjson::Value &value, const wxString &sfixtime, NavData& temp_data){
452 double sog_ms = value.GetDouble();
453 double sog_knot = sog_ms * 1.9438444924406; // m/s to knots
454 // wxLogMessage(wxString::Format(_T(" ***** SOG: %f, %f"), sog_ms, sog_knot));
455 temp_data.gSog = sog_knot;
456}
457
458void CommDecoder::updateNavigationCourseOverGround(
459 const rapidjson::Value &value, const wxString &sfixtime, NavData& temp_data) {
460 double cog_rad = value.GetDouble();
461 double cog_deg = GEODESIC_RAD2DEG(cog_rad);
462 // wxLogMessage(wxString::Format(_T(" ***** COG: %f, %f"), cog_rad, cog_deg));
463 temp_data.gCog = cog_deg;
464}
465
466void CommDecoder::updateGnssSatellites(const rapidjson::Value &value,
467 const wxString &sfixtime,
468 NavData& temp_data) {
469
470 if (value.IsInt()) {
471 if (value.GetInt() > 0) {
472 temp_data.n_satellites = value.GetInt();
473 }
474 } else if ((value.HasMember("count") && value["count"].IsInt())) {
475 temp_data.n_satellites = value["count"].GetInt();
476 }
477}
478
479void CommDecoder::updateHeadingTrue(const rapidjson::Value &value,
480 const wxString &sfixtime,
481 NavData& temp_data) {
482 temp_data.gHdt = GEODESIC_RAD2DEG(value.GetDouble());
483}
484
485void CommDecoder::updateHeadingMagnetic(
486 const rapidjson::Value &value, const wxString &sfixtime,
487 NavData& temp_data) {
488 temp_data.gHdm = GEODESIC_RAD2DEG(value.GetDouble());
489}
490
491void CommDecoder::updateMagneticVariance(
492 const rapidjson::Value &value, const wxString &sfixtime,
493 NavData& temp_data) {
494 temp_data.gVar = GEODESIC_RAD2DEG(value.GetDouble());
495}
496
Position
GNSS Lat/Long container.
Definition: comm_appmsg.h:45
NavData
Actual own ship state.
Definition: comm_decoder.h:42