/**
* Parse a "$VMVABD" sentence.
*
* Example: "$VMVABD,0000.0,M,0547.0,M,-0.0,,,MS,0.0,KH,22.4,C*65"
*/
static bool
FlytecParseVMVABD(NMEAInputLine &line, NMEAInfo &info)
{
fixed value;
// 0,1 = GPS altitude, unit
if (line.ReadCheckedCompare(info.gps_altitude, "M"))
info.gps_altitude_available.Update(info.clock);
// 2,3 = baro altitude, unit
if (line.ReadCheckedCompare(value, "M"))
info.ProvideBaroAltitudeTrue(value);
// 4-7 = integrated vario, unit
line.Skip(4);
// 8,9 = indicated or true airspeed, unit
if (line.ReadCheckedCompare(value, "KH"))
// XXX is that TAS or IAS? Documentation isn't clear.
info.ProvideBothAirspeeds(Units::ToSysUnit(value, Unit::KILOMETER_PER_HOUR));
// 10,11 = temperature, unit
info.temperature_available =
line.ReadCheckedCompare(value, "C");
if (info.temperature_available)
info.temperature = CelsiusToKelvin(value);
return true;
}
static void
Run(IGCWriter &writer)
{
static const GeoPoint home(Angle::Degrees(fixed(7.7061111111111114)),
Angle::Degrees(fixed(51.051944444444445)));
static const GeoPoint tp(Angle::Degrees(fixed(10.726111111111111)),
Angle::Degrees(fixed(50.6322)));
static NMEAInfo i;
i.clock = fixed_one;
i.time = fixed(1);
i.time_available.Update(i.clock);
i.date_time_utc.year = 2010;
i.date_time_utc.month = 9;
i.date_time_utc.day = 4;
i.date_time_utc.hour = 11;
i.date_time_utc.minute = 22;
i.date_time_utc.second = 33;
i.location = home;
i.location_available.Update(i.clock);
i.gps_altitude = fixed(487);
i.gps_altitude_available.Update(i.clock);
i.ProvidePressureAltitude(fixed(490));
i.ProvideBaroAltitudeTrue(fixed(400));
writer.WriteHeader(i.date_time_utc, _T("Pilot Name"), _T("ASK-21"),
_T("D-1234"), _T("34"), "FOO", _T("bar"), false);
writer.StartDeclaration(i.date_time_utc, 3);
writer.AddDeclaration(home, _T("Bergneustadt"));
writer.AddDeclaration(tp, _T("Suhl"));
writer.AddDeclaration(home, _T("Bergneustadt"));
writer.EndDeclaration();
writer.LogEmptyFRecord(i.date_time_utc);
i.date_time_utc.second += 5;
writer.LogPoint(i);
i.date_time_utc.second += 5;
writer.LogEvent(i, "my_event");
i.date_time_utc.second += 5;
writer.LoggerNote(_T("my_note"));
int satellites[GPSState::MAXSATELLITES];
for (unsigned i = 0; i < GPSState::MAXSATELLITES; ++i)
satellites[i] = 0;
satellites[2] = 12;
satellites[4] = 17;
satellites[7] = 1;
i.date_time_utc.second += 5;
writer.LogFRecord(i.date_time_utc, satellites);
i.location = GeoPoint(Angle::Degrees(fixed(-7.7061111111111114)),
Angle::Degrees(fixed(-51.051944444444445)));
writer.LogPoint(i);
writer.Flush();
writer.Sign();
}
static bool
PZAN1(NMEAInputLine &line, NMEAInfo &info)
{
fixed baro_altitude;
if (line.ReadChecked(baro_altitude))
/* the ZS1 documentation does not specify wheter the altitude is
STD or QNH, but Franz Poeschl confirmed via email that it is
the QNH altitude */
info.ProvideBaroAltitudeTrue(baro_altitude);
return true;
}
/**
* $PWES0,DD,VVVV,MMMM,NNNN,BBBB,SSSS,AAAAA,QQQQQ,IIII,TTTT,UUU,CCCC*CS<CR><LF>
*/
static bool
PWES0(NMEAInputLine &line, NMEAInfo &info)
{
int i;
line.Skip(); /* device */
if (line.ReadChecked(i) && i >= -999 && i <= 999)
info.ProvideTotalEnergyVario(fixed(i) / 10);
line.Skip(); /* average vario */
if (line.ReadChecked(i) && i >= -999 && i <= 999)
info.ProvideNettoVario(fixed(i) / 10);
line.Skip(); /* average netto vario */
line.Skip(); /* speed to fly */
unsigned altitude;
if (line.ReadChecked(altitude) && altitude <= 99999)
info.ProvidePressureAltitude(fixed(altitude));
if (line.ReadChecked(altitude) && altitude <= 99999)
info.ProvideBaroAltitudeTrue(fixed(altitude));
unsigned ias, tas;
bool have_ias = line.ReadChecked(ias) && ias <= 9999;
bool have_tas = line.ReadChecked(tas) && tas <= 9999;
if (have_ias && have_tas)
info.ProvideBothAirspeeds(Units::ToSysUnit(fixed(ias) / 10,
Unit::KILOMETER_PER_HOUR),
Units::ToSysUnit(fixed(tas) / 10,
Unit::KILOMETER_PER_HOUR));
else if (!have_ias && have_tas)
info.ProvideTrueAirspeed(Units::ToSysUnit(fixed(tas) / 10,
Unit::KILOMETER_PER_HOUR));
unsigned voltage;
if (line.ReadChecked(voltage) && voltage <= 999) {
info.voltage = fixed(voltage) / 10;
info.voltage_available.Update(info.clock);
}
if (line.ReadChecked(i) && i >= -999 && i <= 999) {
info.temperature = CelsiusToKelvin(fixed(i) / 10);
info.temperature_available = true;
}
return true;
}
/**
* $PWES0,DD,VVVV,MMMM,NNNN,BBBB,SSSS,AAAAA,QQQQQ,IIII,TTTT,UUU,CCCC*CS<CR><LF>
*/
static bool
PWES0(NMEAInputLine &line, NMEAInfo &info)
{
int i, k;
line.skip(); /* device */
if (line.read_checked(i))
info.ProvideTotalEnergyVario(fixed(i) / 10);
line.skip(); /* average vario */
if (line.read_checked(i))
info.ProvideNettoVario(fixed(i) / 10);
line.skip(); /* average netto vario */
line.skip(); /* speed to fly */
if (line.read_checked(i))
info.ProvidePressureAltitude(fixed(i));
if (line.read_checked(i))
info.ProvideBaroAltitudeTrue(fixed(i));
bool have_ias = line.read_checked(i);
bool have_tas = line.read_checked(k);
if (have_ias && have_tas)
info.ProvideBothAirspeeds(Units::ToSysUnit(fixed(i) / 10,
Unit::KILOMETER_PER_HOUR),
Units::ToSysUnit(fixed(k) / 10,
Unit::KILOMETER_PER_HOUR));
else if (!have_ias && have_tas)
info.ProvideTrueAirspeed(Units::ToSysUnit(fixed(k) / 10,
Unit::KILOMETER_PER_HOUR));
if (line.read_checked(i)) {
info.voltage = fixed(i) / 10;
info.voltage_available.Update(info.clock);
}
if (line.read_checked(i)) {
info.temperature = CelsiusToKelvin(fixed(i) / 10);
info.temperature_available = true;
}
return true;
}
/**
* Parse a "$PDGFTL1" sentence.
*
* Example: "$PDGFTL1,2025,2000,250,-14,45,134,28,65,382,153*3D"
*/
static bool
PDGFTL1(NMEAInputLine &line, NMEAInfo &info)
{
double value;
// Baro Altitude QNE(1013.25) 2025 meter 2025 mt
if (line.ReadChecked(value))
info.ProvidePressureAltitude(value);
// Baro Altitude QNH 2000 meter 2000 mt
if (line.ReadChecked(value))
info.ProvideBaroAltitudeTrue(value);
// Vario 250 cm/sec +2,50 m/s
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value / 100);
// Netto Vario -14 dm/sec -1,40 m/s
if (line.ReadChecked(value))
info.ProvideNettoVario(value / 10);
// Indicated Air Speed 45 km/h 45 km/h
if (line.ReadChecked(value))
info.ProvideIndicatedAirspeed(Units::ToSysUnit(value, Unit::KILOMETER_PER_HOUR));
// Ground Efficiency 134 ratio 13,4 : 1
line.Skip();
// Wind Speed 28 km/h 28 km/h
// Wind Direction 65 degree 65 degree
SpeedVector wind;
if (ReadSpeedVector(line, wind))
info.ProvideExternalWind(wind);
// Main Lithium Battery Voltage 382 0.01 volts 3,82 volts
if (line.ReadChecked(value)) {
info.voltage = value / 100;
info.voltage_available.Update(info.clock);
}
// Backup AA Battery Voltage 153 0.01 volts 1,53 volts
return true;
}
static bool
cLXWP0(NMEAInputLine &line, NMEAInfo &info)
{
/*
$LXWP0,Y,222.3,1665.5,1.71,,,,,,239,174,10.1
0 logger_stored (Y/N)
1 IAS (kph) ----> Condor uses TAS!
2 baroaltitude (m)
3 vario (m/s)
4-8 unknown
9 heading of plane
10 windcourse (deg)
11 windspeed (kph)
*/
fixed value;
line.Skip();
fixed airspeed;
bool tas_available = line.ReadChecked(airspeed);
fixed alt = line.Read(fixed_zero);
if (tas_available)
info.ProvideTrueAirspeedWithAltitude(Units::ToSysUnit(airspeed,
Unit::KILOMETER_PER_HOUR),
alt);
// ToDo check if QNH correction is needed!
info.ProvideBaroAltitudeTrue(alt);
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value);
line.Skip(6);
SpeedVector wind;
if (ReadSpeedVector(line, wind))
info.ProvideExternalWind(wind);
return true;
}
/**
* $PWES0,DD,VVVV,MMMM,NNNN,BBBB,SSSS,AAAAA,QQQQQ,IIII,TTTT,UUU,CCC*CS<CR><LF>
*/
static bool
PWES0(NMEAInputLine &line, NMEAInfo &info)
{
int i, k;
line.skip(); /* device */
if (line.read_checked(i))
info.ProvideTotalEnergyVario(fixed(i) / 10);
line.skip(); /* average vario */
if (line.read_checked(i))
info.ProvideNettoVario(fixed(i) / 10);
line.skip(); /* average netto vario */
line.skip(); /* speed to fly */
if (line.read_checked(i))
info.ProvidePressureAltitude(fixed(i));
if (line.read_checked(i))
info.ProvideBaroAltitudeTrue(fixed(i));
bool have_ias = line.read_checked(i);
bool have_tas = line.read_checked(k);
if (have_ias && have_tas)
info.ProvideBothAirspeeds(Units::ToSysUnit(fixed(i) / 10,
unKiloMeterPerHour),
Units::ToSysUnit(fixed(k) / 10,
unKiloMeterPerHour));
if (line.read_checked(i)) {
info.voltage = fixed(i) / 10;
info.voltage_available.Update(info.clock);
}
if (line.read_checked(i)) {
info.temperature = Units::ToSysUnit(fixed(i) / 10, unGradCelcius);
info.temperature_available = true;
}
return true;
}
/**
* Parse a "$C" sentence.
*
* Example: "$C,+2025,-7,+18,+25,+29,122,314,314,0,-356,+25,45,T*3D"
*/
static bool
LeonardoParseC(NMEAInputLine &line, NMEAInfo &info)
{
double value;
// 0 = altitude [m]
if (line.ReadChecked(value))
info.ProvideBaroAltitudeTrue(value);
// 1 = vario [cm/s]
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value / 100);
// 2 = airspeed [km/h]
/* XXX is that TAS or IAS? */
if (line.ReadChecked(value))
info.ProvideTrueAirspeed(Units::ToSysUnit(value, Unit::KILOMETER_PER_HOUR));
if (line.Rest().empty())
/* short "$C" sentence ends after airspeed */
return true;
// 3 = netto vario [dm/s]
if (line.ReadChecked(value))
info.ProvideNettoVario(value / 10);
// 4 = temperature [deg C]
double oat;
info.temperature_available = line.ReadChecked(oat);
if (info.temperature_available)
info.temperature = CelsiusToKelvin(oat);
line.Skip(5);
// 10 = wind speed [km/h]
// 11 = wind direction [degrees]
SpeedVector wind;
if (ReadSpeedVector(line, wind))
info.ProvideExternalWind(wind);
return true;
}
/**
* Parses a PGRMZ sentence (Garmin proprietary).
*
* @param String Input string
* @param params Parameter array
* @param nparams Number of parameters
* @param info NMEA_INFO struct to parse into
* @return Parsing success
*/
bool
NMEAParser::RMZ(NMEAInputLine &line, NMEAInfo &info)
{
//JMW? RMZAltitude = info.pressure.PressureAltitudeToQNHAltitude(RMZAltitude);
fixed value;
if (ReadAltitude(line, value)) {
// JMW no in-built baro sources, so use this generic one
if (info.flarm.IsDetected())
/* FLARM emulates the Garmin $PGRMZ sentence, but emits the
altitude above 1013.25 hPa - since the don't have a "FLARM"
device driver, we use the auto-detected "isFlarm" flag
here */
info.ProvideWeakPressureAltitude(value);
else
info.ProvideBaroAltitudeTrue(value);
}
return true;
}
bool
DemoReplayGlue::Update(NMEAInfo &data, fixed time_scale)
{
if (!UpdateTime())
return true;
fixed floor_alt = fixed_300;
if (device_blackboard->Calculated().terrain_valid) {
floor_alt += device_blackboard->Calculated().terrain_altitude;
}
bool retval;
{
ProtectedTaskManager::ExclusiveLease protected_task_manager(*task_manager);
TaskAccessor ta(protected_task_manager, floor_alt);
retval = DemoReplay::Update(time_scale, ta);
}
const AircraftState &s = aircraft.GetState();
data.clock = s.time;
data.alive.Update(data.clock);
data.ProvideTime(s.time);
data.location = s.location;
data.location_available.Update(data.clock);
data.ground_speed = s.ground_speed;
data.ground_speed_available.Update(data.clock);
data.track = s.track;
data.track_available.Update(data.clock);
data.gps_altitude = s.altitude;
data.gps_altitude_available.Update(data.clock);
data.ProvidePressureAltitude(s.altitude);
data.ProvideBaroAltitudeTrue(s.altitude);
data.gps.real = false;
data.gps.replay = true;
data.gps.simulator = false;
return retval;
}
/*
!w,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>*hh<CR><LF>
<1> Vector wind direction in degrees
<2> Vector wind speed in 10ths of meters per second
<3> Vector wind age in seconds
<4> Component wind in 10ths of Meters per second + 500 (500 = 0, 495 = 0.5 m/s tailwind)
<5> True altitude in Meters + 1000
<6> Instrument QNH setting
<7> True airspeed in 100ths of Meters per second
<8> Variometer reading in 10ths of knots + 200
<9> Averager reading in 10ths of knots + 200
<10> Relative variometer reading in 10ths of knots + 200
<11> Instrument MacCready setting in 10ths of knots
<12> Instrument Ballast setting in percent of capacity
<13> Instrument Bug setting
*hh Checksum, XOR of all bytes
*/
static bool
cai_w(NMEAInputLine &line, NMEAInfo &info)
{
SpeedVector wind;
if (ReadSpeedVector(line, wind))
info.ProvideExternalWind(wind.Reciprocal());
line.skip(2);
fixed value;
if (line.read_checked(value))
info.ProvideBaroAltitudeTrue(value - fixed(1000));
if (line.read_checked(value))
info.settings.ProvideQNH(value, info.clock);
if (line.read_checked(value))
info.ProvideTrueAirspeed(value / 100);
if (line.read_checked(value))
info.ProvideTotalEnergyVario(Units::ToSysUnit((value - fixed(200)) / 10,
unKnots));
line.skip(2);
int i;
if (line.read_checked(i))
info.settings.ProvideMacCready(Units::ToSysUnit(fixed(i) / 10, unKnots),
info.clock);
if (line.read_checked(i))
info.settings.ProvideBallastFraction(fixed(i) / 100, info.clock);
if (line.read_checked(i))
info.settings.ProvideBugs(fixed(i) / 100, info.clock);
return true;
}
/**
* Parse a "$PILC,PDA1" sentence.
*
* Example: "$PILC,PDA1,1489,-3.21,274,15,58*7D"
*/
static bool
ParsePDA1(NMEAInputLine &line, NMEAInfo &info)
{
fixed value;
// altitude [m]
int altitude;
if (line.ReadChecked(altitude))
info.ProvideBaroAltitudeTrue(fixed(altitude));
// total energy vario [m/s]
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value);
// wind direction [degrees, kph]
SpeedVector wind;
if (ReadSpeedVector(line, wind))
info.ProvideExternalWind(wind);
// confidence [0..100]
// not used
return true;
}
int main(int argc, char **argv)
{
plan_tests(47);
const TCHAR *path = _T("output/test/test.igc");
File::Delete(path);
static const GeoPoint home(Angle::Degrees(fixed(7.7061111111111114)),
Angle::Degrees(fixed(51.051944444444445)));
static const GeoPoint tp(Angle::Degrees(fixed(10.726111111111111)),
Angle::Degrees(fixed(50.6322)));
static NMEAInfo i;
i.clock = fixed_one;
i.time = fixed(1);
i.time_available.Update(i.clock);
i.date_time_utc.year = 2010;
i.date_time_utc.month = 9;
i.date_time_utc.day = 4;
i.date_time_utc.hour = 11;
i.date_time_utc.minute = 22;
i.date_time_utc.second = 33;
i.location = home;
i.location_available.Update(i.clock);
i.gps_altitude = fixed(487);
i.gps_altitude_available.Update(i.clock);
i.ProvideBaroAltitudeTrue(fixed(490));
IGCWriter writer(path, i);
writer.WriteHeader(i.date_time_utc, _T("Pilot Name"), _T("ASK-21"),
_T("D-1234"), _T("34"), "FOO", _T("bar"));
writer.StartDeclaration(i.date_time_utc, 3);
writer.AddDeclaration(home, _T("Bergneustadt"));
writer.AddDeclaration(tp, _T("Suhl"));
writer.AddDeclaration(home, _T("Bergneustadt"));
writer.EndDeclaration();
i.date_time_utc.second += 5;
writer.LogPoint(i);
i.date_time_utc.second += 5;
writer.LogEvent(i, "my_event");
i.date_time_utc.second += 5;
writer.LoggerNote(_T("my_note"));
i.date_time_utc.second += 5;
i.location = GeoPoint(Angle::Degrees(fixed(-7.7061111111111114)),
Angle::Degrees(fixed(-51.051944444444445)));
writer.LogPoint(i);
writer.Finish(i);
writer.Sign();
CheckTextFile(path, expect);
GRecord grecord;
grecord.Initialize();
grecord.SetFileName(path);
ok1(grecord.VerifyGRecordInFile());
return exit_status();
}
bool
Replay::Update()
{
if (replay == nullptr)
return false;
if (time_scale <= 0) {
/* replay is paused */
/* to avoid a big fast-forward with the next
PeriodClock::ElapsedUpdate() call below after unpausing, update
the clock each time we're called while paused */
clock.Update();
return true;
}
const double old_virtual_time = virtual_time;
if (virtual_time >= 0) {
/* update the virtual time */
assert(clock.IsDefined());
if (fast_forward < 0) {
virtual_time += clock.ElapsedUpdate() * time_scale / 1000;
} else {
clock.Update();
virtual_time += 1;
if (virtual_time >= fast_forward)
fast_forward = -1;
}
} else {
/* if we ever received a valid time from the AbstractReplay, then
virtual_time must be initialised */
assert(!next_data.time_available);
}
if (cli == nullptr || fast_forward >= 0) {
if (next_data.time_available && virtual_time < next_data.time)
/* still not time to use next_data */
return true;
{
std::lock_guard<Mutex> lock(device_blackboard->mutex);
device_blackboard->SetReplayState() = next_data;
device_blackboard->ScheduleMerge();
}
while (true) {
if (!replay->Update(next_data)) {
Stop();
return false;
}
assert(!next_data.gps.real);
if (next_data.time_available) {
if (virtual_time < 0) {
virtual_time = next_data.time;
if (fast_forward >= 0)
fast_forward += virtual_time;
clock.Update();
break;
}
if (next_data.time >= virtual_time)
break;
if (next_data.time < old_virtual_time) {
/* time warp; that can happen on midnight wraparound during
NMEA replay */
virtual_time = next_data.time;
break;
}
}
}
} else {
while (cli->NeedData(virtual_time)) {
if (!replay->Update(next_data)) {
Stop();
return false;
}
assert(!next_data.gps.real);
if (next_data.time_available)
cli->Update(next_data.time, next_data.location,
next_data.gps_altitude,
next_data.pressure_altitude);
}
if (virtual_time < 0) {
virtual_time = cli->GetMaxTime();
if (fast_forward >= 0)
fast_forward += virtual_time;
clock.Update();
}
const CatmullRomInterpolator::Record r = cli->Interpolate(virtual_time);
const GeoVector v = cli->GetVector(virtual_time);
NMEAInfo data = next_data;
data.clock = virtual_time;
data.alive.Update(data.clock);
data.ProvideTime(virtual_time);
data.location = r.location;
data.location_available.Update(data.clock);
data.ground_speed = v.distance;
data.ground_speed_available.Update(data.clock);
data.track = v.bearing;
data.track_available.Update(data.clock);
data.gps_altitude = r.gps_altitude;
data.gps_altitude_available.Update(data.clock);
data.ProvidePressureAltitude(r.baro_altitude);
data.ProvideBaroAltitudeTrue(r.baro_altitude);
{
std::lock_guard<Mutex> lock(device_blackboard->mutex);
device_blackboard->SetReplayState() = data;
device_blackboard->ScheduleMerge();
}
}
return true;
}
bool
IgcReplay::Update(NMEAInfo &basic)
{
IGCFix fix;
while (true) {
if (!ReadPoint(fix, basic))
return false;
if (fix.time.IsPlausible())
break;
}
basic.clock = fixed(fix.time.GetSecondOfDay());
basic.alive.Update(basic.clock);
basic.ProvideTime(basic.clock);
basic.location = fix.location;
basic.location_available.Update(basic.clock);
if (fix.gps_altitude != 0) {
basic.gps_altitude = fixed(fix.gps_altitude);
basic.gps_altitude_available.Update(basic.clock);
} else
basic.gps_altitude_available.Clear();
if (fix.pressure_altitude != 0) {
basic.ProvidePressureAltitude(fixed(fix.pressure_altitude));
basic.ProvideBaroAltitudeTrue(fixed(fix.pressure_altitude));
} else {
basic.pressure_altitude_available.Clear();
basic.baro_altitude_available.Clear();
}
if (fix.enl >= 0) {
basic.engine_noise_level = fix.enl;
basic.engine_noise_level_available.Update(basic.clock);
} else
basic.engine_noise_level_available.Clear();
if (fix.trt >= 0) {
basic.track = Angle::Degrees(fixed(fix.trt));
basic.track_available.Update(basic.clock);
} else
basic.track_available.Clear();
if (fix.gsp >= 0) {
basic.ground_speed = Units::ToSysUnit(fixed(fix.gsp),
Unit::KILOMETER_PER_HOUR);
basic.ground_speed_available.Update(basic.clock);
} else
basic.ground_speed_available.Clear();
if (fix.ias >= 0) {
fixed ias = Units::ToSysUnit(fixed(fix.ias), Unit::KILOMETER_PER_HOUR);
if (fix.tas >= 0)
basic.ProvideBothAirspeeds(ias,
Units::ToSysUnit(fixed(fix.tas),
Unit::KILOMETER_PER_HOUR));
else
basic.ProvideIndicatedAirspeedWithAltitude(ias, basic.pressure_altitude);
} else if (fix.tas >= 0)
basic.ProvideTrueAirspeed(Units::ToSysUnit(fixed(fix.tas),
Unit::KILOMETER_PER_HOUR));
if (fix.siu >= 0) {
basic.gps.satellites_used = fix.siu;
basic.gps.satellites_used_available.Update(basic.clock);
}
basic.gps.real = false;
basic.gps.replay = true;
basic.gps.simulator = false;
return true;
}
