void* receptor(void* data)
{
boat* barco = (boat*) data;
char msg[256];
ais_state ais;
aismsg_1 msg_1; // Solo se contempla mensages de tipo 1.
long lat,lon;
double lat_dd, long_ddd;
float time;
while (1)
{
time = 0;
memset( &ais, 0, sizeof( ais_state ) );
pthread_mutex_lock(&lock);
if (list != NULL)
{
list = remove_message(list, msg);
pthread_mutex_unlock(&lock);
if (assemble_vdm( &ais, msg ) == 0)
{
ais.msgid = (unsigned char) get_6bit( &ais.six_state, 6 );
if( (ais.msgid == 1)&&(parse_ais_1( &ais, &msg_1 ) == 0) )
{
float dist = distancia(barco->cog, msg_1.cog, barco->sog, msg_1.sog, barco->latitude, barco->longitude, msg_1.latitude, msg_1.longitude);
lat = msg_1.latitude; lon = msg_1.longitude;
conv_pos(&lat, &lon);
pos2ddd( lat, lon, &lat_dd, &long_ddd );
printf("*****-----*****-----*****-----*****\n");
printf( "MESSAGE ID: %d\t", ais.msgid );
printf( "USER ID : %ld\n", msg_1.userid );
printf( "SOG : %d\t", msg_1.sog );
printf( "COG : %d\n", msg_1.cog );
printf( "POSITION : Lat %0.6f Lon %0.6f\n", lat_dd, long_ddd );
printf("MDCPA :%0.6f \n", dist);
}else printf("ERROR!!\nmsgid:%d msg:%s \n", ais.msgid, msg);
}
}
else
{
pthread_mutex_unlock(&lock);
printf("No hay mensages\n");
sleep(1);
time += 1;
}
usleep(100000); // 0.1 seg
time += 0.1;
boat_new_pos(barco, time);
}
}
int test_ais_1( void )
{
ais_state state;
aismsg_1 message;
unsigned int result;
/* !AIVDM,1,1,,B,19NS7Sp02wo?HETKA2K6mUM20<L=,0*27 */
char s[] = "19NS7Sp02wo?HETKA2K6mUM20<L=";
init_6bit( &state.six_state );
strcpy( state.six_state.bits, s );
state.msgid = (char) get_6bit( &state.six_state, 6 );
if( (result = parse_ais_1( &state, &message )) != 0 )
{
fprintf( stderr, "test_ais_1() failed: error %d\n", result);
return 0;
}
/* Check the results */
if( message.msgid != 1 )
{
fprintf( stderr, "test_ais_1() failed: msgid\n");
return 0;
}
if( message.repeat != 0 )
{
fprintf( stderr, "test_ais_1() failed: repeat\n");
return 0;
}
if( message.userid != 636012431 )
{
fprintf( stderr, "test_ais_1() failed: userid/MMSI\n");
return 0;
}
if( message.nav_status != 8 )
{
fprintf( stderr, "test_ais_1() failed: nav_status\n");
return 0;
}
if( message.rot != 0 )
{
fprintf( stderr, "test_ais_1() failed: rot\n");
return 0;
}
if( message.sog != 191 )
{
fprintf( stderr, "test_ais_1() failed: sog\n");
return 0;
}
if( message.longitude != -73481550 )
{
fprintf( stderr, "test_ais_1() failed: longitude\n");
return 0;
}
if( message.latitude != 28590700 )
{
fprintf( stderr, "test_ais_1() failed: latitude\n");
return 0;
}
if( message.cog != 1750 )
{
fprintf( stderr, "test_ais_1() failed: cog\n");
return 0;
}
if( message.true_heading != 174 )
{
fprintf( stderr, "test_ais_1() failed: true_heading\n");
return 0;
}
if( message.utc_sec != 33 )
{
fprintf( stderr, "test_ais_1() failed: utc_sec\n");
return 0;
}
if( message.regional != 0 )
{
fprintf( stderr, "test_ais_1() failed: regional\n");
return 0;
}
if( message.spare != 0 )
{
fprintf( stderr, "test_ais_1() failed: spare\n");
return 0;
}
if( message.raim != 0 )
{
fprintf( stderr, "test_ais_1() failed: raim\n");
return 0;
}
if( message.sync_state != 0 )
{
fprintf( stderr, "test_ais_1() failed: sync_state\n");
return 0;
}
if( message.slot_timeout != 3 )
{
fprintf( stderr, "test_ais_1() failed: slot_timeout\n");
return 0;
}
if( message.sub_message != 1805 )
{
fprintf( stderr, "test_ais_1() failed: sub_message\n");
return 0;
}
fprintf( stderr, "test_ais_1() passed\n");
return 1;
}
int main( int argc, char *argv[] )
{
ais_state ais;
char buf[256];
/* AIS message structures, only parse ones with positions */
aismsg_1 msg_1;
aismsg_2 msg_2;
aismsg_3 msg_3;
aismsg_4 msg_4;
aismsg_9 msg_9;
aismsg_18 msg_18;
aismsg_19 msg_19;
/* Position in DD.DDDDDD */
double lat_dd;
double long_ddd;
long userid;
/* Clear out the structures */
memset( &ais, 0, sizeof( ais_state ) );
/* Output JSON structure header */
printf("<markers>\n");
/* Process incoming packets from stdin */
while( !feof(stdin) )
{
if (fgets( buf, 255, stdin ) == NULL ) break;
if (assemble_vdm( &ais, buf ) == 0)
{
/* Get the 6 bit message id */
ais.msgid = (unsigned char) get_6bit( &ais.six_state, 6 );
/* process message with appropriate parser */
switch( ais.msgid ) {
case 1:
if( parse_ais_1( &ais, &msg_1 ) == 0 )
{
userid = msg_1.userid;
pos2ddd( msg_1.latitude, msg_1.longitude, &lat_dd, &long_ddd );
}
break;
case 2:
if( parse_ais_2( &ais, &msg_2 ) == 0 )
{
userid = msg_2.userid;
pos2ddd( msg_2.latitude, msg_2.longitude, &lat_dd, &long_ddd );
}
break;
case 3:
if( parse_ais_3( &ais, &msg_3 ) == 0 )
{
userid = msg_3.userid;
pos2ddd( msg_3.latitude, msg_3.longitude, &lat_dd, &long_ddd );
}
break;
case 4:
if( parse_ais_4( &ais, &msg_4 ) == 0 )
{
userid = msg_4.userid;
pos2ddd( msg_4.latitude, msg_4.longitude, &lat_dd, &long_ddd );
}
break;
case 9:
if( parse_ais_9( &ais, &msg_9 ) == 0 )
{
userid = msg_9.userid;
pos2ddd( msg_9.latitude, msg_9.longitude, &lat_dd, &long_ddd );
}
break;
case 18:
if( parse_ais_18( &ais, &msg_18 ) == 0 )
{
userid = msg_18.userid;
pos2ddd( msg_18.latitude, msg_18.longitude, &lat_dd, &long_ddd );
}
break;
case 19:
if( parse_ais_19( &ais, &msg_19 ) == 0 )
{
userid = msg_19.userid;
pos2ddd( msg_19.latitude, msg_19.longitude, &lat_dd, &long_ddd );
}
break;
} /* switch msgid */
printf( " <marker lat=\"%0.6f\" lng=\"%0.6f\" />\n", lat_dd, long_ddd );
} /* if */
} /* while */
/* Output JSON footer */
printf("</markers>\n");
return 0;
}
int main( int argc, char *argv[] )
{
ais_state ais;
unsigned int i;
/* AIS message structures */
aismsg_1 msg_1;
aismsg_2 msg_2;
aismsg_3 msg_3;
aismsg_4 msg_4;
aismsg_5 msg_5;
aismsg_12 msg_12;
aismsg_18 msg_18;
aismsg_24 msg_24;
char *test_msgs[] = { "19NS7Sp02wo?HETKA2K6mUM20<L=",
"35Mk33gOkSG?bLtK?;B2dRO`00`",
"403OwpiuIKl:Ro=sbvK=CG700<3b",
"55Mf@6P00001MUS;7GQL4hh61L4hh6222222220t41H==40HtI4i@E531H1QDTVH51DSCS0",
"703Owpi9lmaQ",
"<03Owph00002QG51D85BP1<5BDQP",
"=03Owpi;Eo7`",
"?03OwpiGPmD0000",
"D03OwphiIN>4",
"B52IRsP005=abWRnlQP03w`UkP06",
"H52IRsP518Tj0l59D0000000000",
"H52IRsTU000000000000000@5120"
};
#define NUM_DEMO_MSGS 9
char *demo_msgs[] = { "!AIVDM,1,1,,B,15MqvC0Oh9G?qinK?VlPhA480@2n,0*1F,123,14",
"!AIVDM,1,1,,B,15Mf@6P001G?v68K??4SejL<00Sl,0*71",
"!AIVDM,1,1,,B,15Mn4kPP01G?qNvK>:grkOv<0<11,0*55",
"!AIVDM,1,1,,B,15O1Pv0022o?GeNKB3f7QV2>00SP,0*26",
"!AIVDM,1,1,,B,15MqvC0Oh:G?qj0K?Vp@di4B0@5>,0*44",
"!AIVDM,1,1,,B,15Mts3?P@;G8RB@JLbgamrBF0H6B,0*16",
"$BSVDM,1,1,,B,15MqvC0Oh:G?qj0K?Vp@di4B0@5>,0*5D",
"!AIVDM,1,1,,B,15Mts3?P@;G8RB@JLbgamrBF0H6B,0*16,142,aass,12311",
"!AIVDM,1,1,,A,34a=CB1001JwAEhHra0qk4wF2000,0*5B"
};
if (test_ahextobin() != 1)
{
exit(-1);
}
if (test_nmea_next_field() != 1)
{
exit(-1);
}
if (test_nmea_uint() != 1)
{
exit(-1);
}
if (test_nmea_copy_field() != 1)
{
exit(-1);
}
if (test_find_nmea_start() != 1)
{
exit(-1);
}
if (test_nmea_checksum() != 1)
{
exit(-1);
}
if (test_check_nmea_checksum() != 1)
{
exit(-1);
}
if (test_binfrom6bit() != 1)
{
exit(-1);
}
if (test_init_6bit() != 1)
{
exit(-1);
}
if (test_get_6bit() != 1)
{
exit(-1);
}
if (test_ais2ascii() != 1)
{
exit(-1);
}
if (test_conv_pos() != 1)
{
exit(-1);
}
if (test_pos2ddd() != 1)
{
exit(-1);
}
if (test_pos2dmm() != 1)
{
exit(-1);
}
if (test_assemble_vdm() != 1)
{
exit(-1);
}
if( test_ais_1() != 1 )
{
exit(-1);
}
if( test_ais_3() != 1 )
{
exit(-1);
}
if( test_ais_4() != 1 )
{
exit(-1);
}
if( test_ais_5() != 1 )
{
exit(-1);
}
if( test_ais_7() != 1 )
{
exit(-1);
}
if( test_ais_9() != 1 )
{
exit(-1);
}
if( test_ais_12() != 1 )
{
exit(-1);
}
if( test_ais_13() != 1 )
{
exit(-1);
}
if( test_ais_15() != 1 )
{
exit(-1);
}
if( test_ais_18() != 1 )
{
exit(-1);
}
if( test_ais_20() != 1 )
{
exit(-1);
}
if( test_ais_24A() != 1 )
{
exit(-1);
}
if( test_ais_24B() != 1 )
{
exit(-1);
}
printf("Testing test_msgs\n");
/* Clear out the structures */
memset( &ais, 0, sizeof( ais_state ) );
for (i=0; i<12; i++)
{
init_6bit( &ais.six_state );
strcpy( ais.six_state.bits, test_msgs[i] );
ais.msgid = (unsigned char) get_6bit( &ais.six_state, 6 );
/* Process the AIS message */
printf( "Message %d\n", ais.msgid );
/* process message with appropriate parser */
switch( ais.msgid ) {
case 1:
if( parse_ais_1( &ais, &msg_1 ) == 0 )
{
/* Do something with results */
printf( "MMSI : %09ld\n", msg_1.userid );
printf( "Lat : %ld\n", msg_1.latitude );
printf( "Long : %ld\n", msg_1.longitude );
}
break;
case 2:
if( parse_ais_2( &ais, &msg_2 ) == 0 )
{
/* Do something with results */
printf( "MMSI : %09ld\n", msg_2.userid );
printf( "Lat : %ld\n", msg_1.latitude );
printf( "Long : %ld\n", msg_1.longitude );
}
break;
case 3:
if( parse_ais_3( &ais, &msg_3 ) == 0 )
{
/* Do something with results */
printf( "MMSI : %09ld\n", msg_3.userid );
printf( "Lat : %ld\n", msg_1.latitude );
printf( "Long : %ld\n", msg_1.longitude );
}
break;
case 4:
if( parse_ais_4( &ais, &msg_4 ) == 0 )
{
/* Do something with results */
printf( "MMSI : %09ld\n", msg_4.userid );
printf( "Lat : %ld\n", msg_1.latitude );
printf( "Long : %ld\n", msg_1.longitude );
}
break;
case 5:
if( parse_ais_5( &ais, &msg_5 ) == 0 )
{
/* Do something with results */
printf( "MMSI : %09ld\n", msg_5.userid );
printf( "Callsign : %s\n", msg_5.callsign );
printf( "Name : %s\n", msg_5.name );
printf( "Destination : %s\n", msg_5.dest );
}
break;
case 12:
if (parse_ais_12(&ais, &msg_12) == 0)
{
/* Do something with the resu;ts */
printf( "MMSI : %09ld\n", msg_12.userid );
printf( "Message : %s\n", msg_12.message );
}
break;
case 18:
if( parse_ais_18( &ais, &msg_18 ) == 0 )
{
/* Do something with results */
printf( "MMSI : %09ld\n", msg_18.userid );
printf( "Lat : %ld\n", msg_18.latitude );
printf( "Long : %ld\n", msg_18.longitude );
}
break;
case 24:
if( parse_ais_24( &ais, &msg_24 ) == 0 )
{
/* Do something with results */
printf( "MMSI : %09ld\n", msg_24.userid );
if (msg_24.flags & 1)
{
printf("Name : %s\n", msg_24.name );
}
if (msg_24.flags & 2)
{
printf("Callsign : %s\n", msg_24.callsign );
}
}
break;
}
}
/* St. Lawrence msg8 testing */
test_seaway();
printf("Testing demo_msgs\n");
/* Clear out the structures */
memset( &ais, 0, sizeof( ais_state ) );
for (i=0; i<NUM_DEMO_MSGS; i++)
{
if( assemble_vdm( &ais, demo_msgs[i] ) != 0 )
continue;
ais.msgid = (unsigned char) get_6bit( &ais.six_state, 6 );
/* Process the AIS message */
printf( "%d of %d: %s\n", i+1, NUM_DEMO_MSGS, demo_msgs[i]);
printf( "msgid : %d\n", ais.msgid );
/* process message with appropriate parser */
switch( ais.msgid ) {
case 1:
if( parse_ais_1( &ais, &msg_1 ) == 0 )
{
printf("repeat : %d\n", msg_1.repeat );
printf("userid : %ld\n", msg_1.userid );
printf("nav_status : %d\n", msg_1.nav_status );
printf("rot : %d\n", msg_1.rot );
printf("sog : %d\n", msg_1.sog );
printf("pos_acc : %d\n", msg_1.pos_acc );
printf("longitude : %ld\n", msg_1.longitude );
printf("latitude : %ld\n", msg_1.latitude );
printf("cog : %d\n", msg_1.cog );
printf("true : %d\n", msg_1.true );
printf("utc_sec : %d\n", msg_1.utc_sec );
printf("regional : %d\n", msg_1.regional );
printf("spare : %d\n", msg_1.spare );
printf("raim : %d\n", msg_1.raim );
printf("sync_state : %d\n", msg_1.sync_state );
printf("slot_timeout: %d\n", msg_1.slot_timeout );
printf("sub_message : %d\n", msg_1.sub_message );
}
break;
case 3:
if( parse_ais_3( &ais, &msg_3 ) == 0 )
{
printf("repeat : %d\n", msg_3.repeat );
printf("userid : %ld\n", msg_3.userid );
printf("nav_status : %d\n", msg_3.nav_status );
printf("rot : %d\n", msg_3.rot );
printf("sog : %d\n", msg_3.sog );
printf("pos_acc : %d\n", msg_3.pos_acc );
printf("longitude : %ld\n", msg_3.longitude );
printf("latitude : %ld\n", msg_3.latitude );
printf("cog : %d\n", msg_3.cog );
printf("true : %d\n", msg_3.true );
printf("utc_sec : %d\n", msg_3.utc_sec );
printf("regional : %d\n", msg_3.regional );
printf("spare : %d\n", msg_3.spare );
printf("raim : %d\n", msg_3.raim );
printf("sync_state : %d\n", msg_3.sync_state );
printf("slot_inc : %d\n", msg_3.slot_increment );
printf("num_slots : %d\n", msg_3.num_slots );
printf("keep : %d\n", msg_3.keep);
}
break;
}
